Bird's eye view map based recognition and motion prediction for autonomous systems

A control system for controlling a motion of a vehicle, comprising:

• a processor;
• and a memory having instructions stored thereon that, when executed by the processor, cause the control system to:
• submit the measurements to a multi-head neural network to generate an extended bird's eye view (BEV) image having a set of pixels carrying information about objects in the environment based on the measurements, wherein a pixel in the set of pixels is associated with a time sequence of future positions of the pixel in subsequent time steps representing a prediction of a future motion of an object, wherein the multi-head neural network includes a feature extraction network connected to a cell classification head, a motion prediction head, and a current motion state estimation head jointly trained with each other;
• produce a motion trajectory of the vehicle using the extended BEV image;
• and
• control an actuator of the vehicle based on the motion trajectory.