ParkPredict: Motion and Intent Prediction of Vehicles in Parking Lots
Paper in proceeding, 2020

We investigate the problem of predicting driver behavior in parking lots, an environment which is less structured than typical road networks and features complex, interactive maneuvers in a compact space. Using the CARLA simulator, we develop a parking lot environment and collect a dataset of human parking maneuvers. We then study the impact of model complexity and feature information by comparing a multi-modal Long Short-Term Memory (LSTM) prediction model and a Convolution Neural Network LSTM (CNN-LSTM) to a physics-based Extended Kalman Filter (EKF) baseline. Our results show that 1) intent can be estimated well (roughly 85% top-1 accuracy and nearly 100% top-3 accuracy with the LSTM and CNN-LSTM model); 2) knowledge of the human driver's intended parking spot has a major impact on predicting parking trajectory; and 3) the semantic representation of the environment improves long term predictions.


Xu Shen

University of California

Ivo Batkovic

Chalmers, Electrical Engineering, Systems and control

Zenuity AB

Vijay Govindarajan

University of California

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control

Trevor Darrell

University of California

Francesco Borrelli

University of California

IEEE Intelligent Vehicles Symposium, Proceedings

1170-1175 9304795

31st IEEE Intelligent Vehicles Symposium, IV 2020
Virtual, Las Vegas, USA,

Subject Categories

Bioinformatics (Computational Biology)


Computer Science



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