Multi-agent trajectory prediction

A method for performing a vehicle maneuver, comprising:

• detecting a scene with a plurality of agents;
• generating a predicted trajectory scenario based on the detected scene, using a predictive model, wherein the predictive model generates trajectories for all of the plurality of agents at once;
• and
• determining a safe maneuver based on the predicted trajectory scenario;
• and
• controlling a vehicle to perform the safe maneuver.

A system for performing a vehicle maneuver, comprising:

• a vehicle control system that causes the vehicle to perform a maneuver in response to an instruction;
• a sensor that detects a scene with a plurality of agents;
• a hardware processor;
• and
• a memory that stores computer program code, which, when executed by the hardware processor, causes the hardware processor to:
• generate a predicted trajectory scenario based on the detected scene, using a predictive model, wherein the predictive model generates trajectories for all of the plurality of agents at once;
• determine a safe maneuver based on the predicted trajectory scenario;
• and
• issue an instruction to the vehicle control system to perform the safe maneuver.