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GAMMA: A General Agent Motion Model for Autonomous Driving. (arXiv:1906.01566v5 [cs.RO] UPDATED)
Jan. 20, 2022, 2:10 a.m. | Yuanfu Luo, Panpan Cai, Yiyuan Lee, David Hsu
cs.CV updates on arXiv.org arxiv.org
This paper presents GAMMA, a general motion prediction model that enables
large-scale real-time simulation and planning for autonomous driving. GAMMA
models heterogeneous, interactive traffic agents. They operate under diverse
road conditions, with various geometric and kinematic constraints. GAMMA treats
the prediction task as constrained optimization in traffic agents' velocity
space. The objective is to optimize an agent's driving performance, while
obeying all the constraints resulting from the agent's kinematics, collision
avoidance with other agents, and the environmental context. Further, GAMMA …
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