Motion Planning for Autonomous Driving in Unsignalized Intersections Using Combined Multi-Modal GNN Predictor and MPC Planner

This article presents an interaction-aware motion planning framework that integrates a graph neural network (GNN) based multi-modal trajectory predictor with a model predictive control (MPC) based planner. Unlike past studies that predict a single future trajectory per agent, our algorithm outputs t...

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Autori principali: Ajitesh Gautam, Yuping He, Xianke Lin
Natura: Artigo
Lingua:Inglês
Pubblicazione: MDPI AG 2025-08-01
Serie:Machines
Soggetti:
multi-modal trajectory prediction
graph neural network
model predictive control
motion planning
intersection safety
Accesso online:https://www.mdpi.com/2075-1702/13/9/760
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