A Review of Trajectory Prediction Methods for the Vulnerable Road User

Predicting the trajectory of other road users, especially vulnerable road users (VRUs), is an important aspect of safety and planning efficiency for autonomous vehicles. With recent advances in Deep-Learning-based approaches in this field, physics- and classical Machine-Learning-based methods cannot exhibit competitive results compared to the former. Hence, this paper provides an extensive review of recent Deep-Learning-based methods in trajectory prediction for VRUs and autonomous driving in general. We review the state and context representations and architectural insights of selected methods, divided into categories according to their primary prediction scheme. Additionally, we summarize reported results on popular datasets for all methods presented in this review. The results show that conditional variational autoencoders achieve the best overall results on both pedestrian and autonomous driving datasets. Finally, we outline possible future research directions for the field of trajectory prediction in autonomous driving.