Collision Avoidance Detour for Multi-Agent Trajectory Forecasting
Hsu-kuang Chiu Stephen F. Smith
We present our approach, Collision Avoidance Detour (CAD), which won the 3rd
place award in the 2023 Waymo Open Dataset Challenge - Sim Agents, held at the
2023 CVPR Workshop on Autonomous Driving. To satisfy the motion prediction
factorization requirement, we partition all the valid objects into three
mutually exclusive sets: Autonomous Driving Vehicle (ADV),
World-tracks-to-predict, and World-others. We use different motion models to
forecast their future trajectories independently. Furthermore, we also apply
collision avoidance detour resampling, additive Gaussian noise, and
velocity-based heading estimation to improve the realism of our simulation
result.