mlsanityData to 7 Oct 2026

An LSTM Network for Highway Trajectory Prediction

arXiv 1801.07962 ↗First posted 24 Jan 2018cs.RO cs.LGcited by 81

On the map: World models → World models for autonomous driving

Abstract (arXiv)

In order to drive safely and efficiently on public roads, autonomous vehicles will have to understand the intentions of surrounding vehicles, and adapt their own behavior accordingly. If experienced human drivers are generally good at inferring other vehicles' motion up to a few seconds in the future, most current Advanced Driving Assistance Systems (ADAS) are unable to perform such medium-term forecasts, and are usually limited to high-likelihood situations such as emergency braking. In this article, we present a first step towards consistent trajectory prediction by introducing a long short-term memory (LSTM) neural network, which is capable of accurately predicting future longitudinal and lateral trajectories for vehicles on highway. Unlike previous work focusing on a low number of trajectories collected from a few drivers, our network was trained and validated on the NGSIM US-101 dataset, which contains a total of 800 hours of recorded trajectories in various traffic densities, representing more than 6000 individual drivers.

Key facts. Cited by 81 papers in the map (data through 7 Oct 2026). Placed in World models for autonomous driving, one of 11 directions in World models. Builds on 0 of its 29 references that are in the map. First posted on arXiv 24 Jan 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2020: 1; 2021: 21; 2022: 10; 2023: 19; 2024: 20; 2025: 9; 2026: 1.

81 papers.

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  1. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  2. 2024Understanding World or Predicting Future? A Comprehensive Survey of World Modelscited by 161
  3. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  4. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  5. 2025A Survey on Vision-Language-Action Models for Autonomous Drivingcited by 72
  6. 2023Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detectioncited by 48
  7. 2020Modeling Human Driving Behavior through Generative Adversarial Imitation Learningcited by 43
  8. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  9. 2024LC-LLM: Explainable Lane-Change Intention and Trajectory Predictions with Large Language Modelscited by 35
  10. 2023I-24 MOTION: An instrument for freeway traffic sciencecited by 24
  11. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  12. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
38 more
  1. 2024MART: MultiscAle Relational Transformer Networks for Multi-agent Trajectory Predictioncited by 21
  2. 2021Variational Autoencoder-Based Vehicle Trajectory Prediction with an Interpretable Latent Spacecited by 20
  3. 2024Language-Driven Interactive Traffic Trajectory Generationcited by 19
  4. 2021DeepTrack: Lightweight Deep Learning for Vehicle Path Prediction in Highwayscited by 16
  5. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  6. 2022Driver Digital Twin for Online Prediction of Personalized Lane Change Behaviorcited by 13
  7. 2024DTG : Diffusion-based Trajectory Generation for Mapless Global Navigationcited by 13
  8. 2022Uncertainty estimation of pedestrian future trajectory using Bayesian approximationcited by 12
  9. 2023Spatial-Temporal Networks for Antibiogram Pattern Predictioncited by 10
  10. 2023VT-Former: An Exploratory Study on Vehicle Trajectory Prediction for Highway Surveillance through Graph Isomorphism and Transformercited by 10
  11. 2022Exploiting map information for self-supervised learning in motion forecastingcited by 8
  12. 2021Vehicle Behavior Prediction and Generalization Using Imbalanced Learning Techniquescited by 7
  13. 2023Connected and Automated Vehicles in Mixed-Traffic: Learning Human Driver Behavior for Effective On-Ramp Mergingcited by 7
  14. 2023A Platform-Agnostic Deep Reinforcement Learning Framework for Effective Sim2Real Transfer towards Autonomous Drivingcited by 7
  15. 2021Time series forecasting of new cases and new deaths rate for COVID-19 using deep learning methodscited by 6
  16. 2022Vehicle Trajectory Prediction on Highways Using Bird Eye View Representations and Deep Learningcited by 6
  17. 2023Trajectory Prediction with Observations of Variable-Length for Motion Planning in Highway Merging scenarioscited by 6
  18. 2024Multimodal Sense-Informed Prediction of 3D Human Motionscited by 6
  19. 2024Goal-based Neural Physics Vehicle Trajectory Prediction Modelcited by 6
  20. 2023A Physics Enhanced Residual Learning (PERL) Framework for Vehicle Trajectory Predictioncited by 5
  21. 2024Attention-based Dynamic Multilayer Graph Neural Networks for Loan Default Predictioncited by 5
  22. 2024Cross-Domain Transfer Learning using Attention Latent Features for Multi-Agent Trajectory Predictioncited by 5
  23. 2021COLLIDE-PRED: Prediction of On-Road Collision From Surveillance Videoscited by 4
  24. 2022Towards Stable Co-saliency Detection and Object Co-segmentationcited by 4
  25. 2022Matching DNN Compression and Cooperative Training with Resources and Data Availabilitycited by 4
  26. 2023Trajectory-Prediction with Vision: A Surveycited by 4
  27. 2024KI-GAN: Knowledge-Informed Generative Adversarial Networks for Enhanced Multi-Vehicle Trajectory Forecasting at Signalized Intersectionscited by 4
  28. 2025RiskNet: Interaction-Aware Risk Forecasting for Autonomous Driving in Long-Tail Scenarioscited by 4
  29. 2021Predicting the Time Until a Vehicle Changes the Lane Using LSTM-based Recurrent Neural Networkscited by 3
  30. 2021Maneuver-Aware Pooling for Vehicle Trajectory Predictioncited by 3
  31. 2023Federated Learning-based Vehicle Trajectory Prediction against Cyberattackscited by 3
  32. 2023A Novel Deep Neural Network for Trajectory Prediction in Automated Vehicles Using Velocity Vector Fieldcited by 3
  33. 2024Building Real-time Awareness of Out-of-distribution in Trajectory Prediction for Autonomous Vehiclescited by 3
  34. 2024FollowGen: A Scaled Noise Conditional Diffusion Model for Car-Following Trajectory Predictioncited by 3
  35. 2021Vehicle trajectory prediction in top-view image sequences based on deep learning methodcited by 2
  36. 2023Improving Autonomous Vehicle Mapping and Navigation in Work Zones Using Crowdsourcing Vehicle Trajectoriescited by 2
  37. 2023SAPI: Surroundings-Aware Vehicle Trajectory Prediction at Intersectionscited by 2
  38. 2023A Fast and Map-Free Model for Trajectory Prediction in Trafficscited by 2

50 most cited of 81 All 81 (JSON)

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  1. 2023Navigating Uncertainty: The Role of Short-Term Trajectory Prediction in Autonomous Vehicle Safety
  2. 2018Naturalistic Driver Intention and Path Prediction using Recurrent Neural Networks
  3. 2025Large Foundation Models for Trajectory Prediction in Autonomous Driving: A Comprehensive Survey
  4. 2023Improving Autonomous Driving Safety with POP: A Framework for Accurate Partially Observed Trajectory Predictions
  5. 2021ObserveNet Control: A Vision-Dynamics Learning Approach to Predictive Control in Autonomous Vehicles
  6. 2023A Novel Temporal Multi-Gate Mixture-of-Experts Approach for Vehicle Trajectory and Driving Intention Prediction
  7. 2024AMEND: A Mixture of Experts Framework for Long-tailed Trajectory Prediction
  8. 2026Frozen LLMs as Map-Aware Spatio-Temporal Reasoners for Vehicle Trajectory Prediction