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SCI."],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>We propose a unified deep learning framework for the generation and analysis of driving scenario trajectories, and validate its effectiveness in a principled way. To model and generate scenarios of trajectories with different lengths, we develop two approaches. First, we adapt the Recurrent Conditional Generative Adversarial Networks (RC-GAN) by conditioning on the length of the trajectories. This provides us the flexibility to generate variable-length driving trajectories, a desirable feature for scenario test case generation in the verification of autonomous driving. Second, we develop an architecture based on Recurrent Autoencoder with GANs to obviate the variable length issue, wherein we train a GAN to learn\/generate the latent representations of original trajectories. In this approach, we train an integrated feed-forward neural network to estimate the length of the trajectories to be able to bring them back from the latent space representation. In addition to trajectory generation, we employ the trained autoencoder as a feature extractor, for the purpose of clustering and anomaly detection, to obtain further insights into the collected scenario dataset. We experimentally investigate the performance of the proposed framework on real-world scenario trajectories obtained from in-field data collection.<\/jats:p>","DOI":"10.1007\/s42979-023-01714-3","type":"journal-article","created":{"date-parts":[[2023,3,4]],"date-time":"2023-03-04T17:02:17Z","timestamp":1677949337000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["A Deep Learning Framework for Generation and Analysis of Driving Scenario Trajectories"],"prefix":"10.1007","volume":"4","author":[{"given":"Andreas","family":"Demetriou","sequence":"first","affiliation":[]},{"given":"Henrik","family":"Alfsv\u00e5g","sequence":"additional","affiliation":[]},{"given":"Sadegh","family":"Rahrovani","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2912-7422","authenticated-orcid":false,"given":"Morteza","family":"Haghir Chehreghani","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,3,4]]},"reference":[{"key":"1714_CR1","doi-asserted-by":"crossref","unstructured":"Arnelid H, Zec EL, Mohammadiha N. 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No conflict of interest occurs.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This research is mainly focused on conceptual and methodological developments and the experimental studies use the datasets which do not contain any private and sensitive information.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"Not applicable. There is no human study in this research.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable. No human study is performed in this research. There is no sensitive information.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"The code will be available through the author\u2019s home page and will be maintained there with a reference to this publication.","order":6,"name":"Ethics","group":{"name":"EthicsHeading","label":"Code availability"}}],"article-number":"251"}}