In this work, we tackle the problem of modeling the vehicle environment as dynamic occupancy grid map in complex urban scenarios using recurrent neural networks. Dynamic occupancy grid maps represent the scene in a bird's eye view, where each grid cell contains the occupancy probability and the two dimensional velocity. As input data, our approach relies on measurement grid maps, which contain occupancy probabilities, generated with lidar measurements. Given this configuration, we propose a recurrent neural network architecture to predict a dynamic occupancy grid map, i.e. filtered occupancy and velocity of each cell, by using a sequence of measurement grid maps. Our network architecture contains convolutional long-short term memories in order to sequentially process the input, makes use of spatial context, and captures motion. In the evaluation, we quantify improvements in estimating the velocity of braking and turning vehicles compared to the state-of-the-art. Additionally, we demonstrate that our approach provides more consistent velocity estimates for dynamic objects, as well as, less erroneous velocity estimates in static area.

Automated vehicles need to not only perceive their environment, but also predict the possible future behavior of all detected traffic participants in order to safely navigate in complex scenarios and avoid critical situations, ranging from merging on highways to crossing urban intersections. Due to the availability of datasets with large numbers of recorded trajectories of traffic participants, deep learning based approaches can be used to model the behavior of road users. This paper proposes a convolutional network that operates on rasterized actor-centric images which encode the static and dynamic actor-environment. We predict multiple possible future trajectories for each traffic actor, which include position, velocity, acceleration, orientation, yaw rate and position uncertainty estimates. To make better use of the past movement of the actor, we propose to employ temporal convolutional networks (TCNs) and rely on uncertainties estimated from the previous object tracking stage. We evaluate our approach on the public "Argoverse Motion Forecasting" dataset, on which it won the first prize at the Argoverse Motion Forecasting Challenge, as presented on the NeurIPS 2019 workshop on "Machine Learning for Autonomous Driving".

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