Coordination and Trajectory Prediction for Vehicle Interactions via Bayesian Generative Modeling. Coordination recognition and subtle pattern prediction of future trajectories play a significant role when modeling interactive behaviors of multiple agents. Due to the essential property of uncertainty in the future evolution, deterministic predictors are not sufficiently safe and robust. In order to tackle the task of probabilistic prediction for multiple, interactive entities, we propose a coordination and trajectory prediction system (CTPS), which has a hierarchical structure including a macrolevel coordination recognition module and a microlevel subtle pattern prediction module which solves a probabilistic generation task. We illustrate two types of representation of the coordination variable: categorized and realvalued, and compare their effects and advantages based on empirical studies. We also bring the ideas of Bayesian deep learning into deep generative models to generate diversified prediction hypotheses. The proposed system is tested on multiple driving datasets in various traffic scenarios, which achieves better performance than baseline approaches in terms of a set of evaluation metrics. The results also show that using categorized coordination can better capture multimodality and generate more diversified samples than the realvalued coordination, while the latter can generate prediction hypotheses with smaller errors with a sacrifice of sample diversity. Moreover, employing neural networks with weight uncertainty is able to generate samples with larger variance and diversity.

Multimodal Probabilistic Prediction of Interactive Behavior via an Interpretable Model For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in advance. While impressive results have been shown on predicting each agentu0027s behavior independently, we argue that it is not valid to consider road entities individually since transitions of vehicle states are highly coupled. Moreover, as the predicted horizon becomes longer, modeling prediction uncertainties and multimodal distributions over future sequences will turn into a more challenging task. In this paper, we address this challenge by presenting a multimodal probabilistic prediction approach. The proposed method is based on a generative model and is capable of jointly predicting sequential motions of each pair of interacting agents. Most importantly, our model is interpretable, which can explain the underneath logic as well as obtain more reliability to use in real applications. A complicate realworld roundabout scenario is utilized to implement and examine the proposed method.