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Sequence-to-Sequence Prediction of Vehicle Trajectory via LSTM Encoder-Decoder Architecture

arXiv 1802.06338 ↗First posted 18 Feb 2018cs.LGcited by 55

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Abstract (arXiv)

In this paper, we propose a deep learning based vehicle trajectory prediction technique which can generate the future trajectory sequence of surrounding vehicles in real time. We employ the encoder-decoder architecture which analyzes the pattern underlying in the past trajectory using the long short-term memory (LSTM) based encoder and generates the future trajectory sequence using the LSTM based decoder. This structure produces the K most likely trajectory candidates over occupancy grid map by employing the beam search technique which keeps the K locally best candidates from the decoder output. The experiments conducted on highway traffic scenarios show that the prediction accuracy of the proposed method is significantly higher than the conventional trajectory prediction techniques.

Key facts. Cited by 55 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Feb 2018.

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Citing papers per year: 2021: 15; 2022: 8; 2023: 14; 2024: 9; 2025: 7; 2026: 2.

55 papers.

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  1. 2023Large Language Models in Law: A Surveycited by 128
  2. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  3. 2021CausalCity: Complex Simulations with Agency for Causal Discovery and Reasoningcited by 23
  4. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
  5. 2021Variational Autoencoder-Based Vehicle Trajectory Prediction with an Interpretable Latent Spacecited by 20
  6. 2022Transferable and Adaptable Driving Behavior Predictioncited by 20
  7. 2023Bifurcations and loss jumps in RNN trainingcited by 17
  8. 2021Anomaly Detection in Multi-Agent Trajectories for Automated Drivingcited by 15
  9. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  10. 2021NetTraj: A Network-based Vehicle Trajectory Prediction Model with Directional Representation and Spatiotemporal Attention Mechanismscited by 13
  11. 2022Uncertainty estimation for Cross-dataset performance in Trajectory predictioncited by 13
  12. 2022Driver Digital Twin for Online Prediction of Personalized Lane Change Behaviorcited by 13
38 more
  1. 2021HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Samplingcited by 12
  2. 2022Uncertainty estimation of pedestrian future trajectory using Bayesian approximationcited by 12
  3. 2023Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction using Diffusion Graph Convolutional Networkscited by 10
  4. 2023Connected and Automated Vehicles in Mixed-Traffic: Learning Human Driver Behavior for Effective On-Ramp Mergingcited by 7
  5. 2023Explaining RL Decisions with Trajectoriescited by 7
  6. 2021Online Adaptation of Neural Network Models by Modified Extended Kalman Filter for Customizable and Transferable Driving Behavior Predictioncited by 6
  7. 2023Trajectory Prediction with Observations of Variable-Length for Motion Planning in Highway Merging scenarioscited by 6
  8. 2024Goal-based Neural Physics Vehicle Trajectory Prediction Modelcited by 6
  9. 2021Time Series Analysis and Modeling to Forecast: a Surveycited by 5
  10. 2021Hierarchical Motion Encoder-Decoder Network for Trajectory Forecastingcited by 4
  11. 2021Pedestrian Trajectory Prediction via Spatial Interaction Transformer Networkcited by 4
  12. 2021Maneuver-Aware Pooling for Vehicle Trajectory Predictioncited by 3
  13. 2023A Novel Deep Neural Network for Trajectory Prediction in Automated Vehicles Using Velocity Vector Fieldcited by 3
  14. 2023Towards Safe Autonomy in Hybrid Traffic: Detecting Unpredictable Abnormal Behaviors of Human Drivers via Information Sharingcited by 3
  15. 2024GRANP: A Graph Recurrent Attentive Neural Process Model for Vehicle Trajectory Predictioncited by 3
  16. 2024Multi-scale Temporal Fusion Transformer for Incomplete Vehicle Trajectory Predictioncited by 3
  17. 2025Detecting Invariant Manifolds in ReLU-Based RNNscited by 3
  18. 2022Data-driven synchronization-avoiding algorithms in the explicit distributed structural analysis of soft tissuecited by 2
  19. 2023SAPI: Surroundings-Aware Vehicle Trajectory Prediction at Intersectionscited by 2
  20. 2023A Fast and Map-Free Model for Trajectory Prediction in Trafficscited by 2
  21. 2023Interaction-Aware Personalized Vehicle Trajectory Prediction Using Temporal Graph Neural Networkscited by 2
  22. 2024NLP-enabled Trajectory Map-matching in Urban Road Networks using a Transformer-based Encoder-decodercited by 2
  23. 2025End-to-End Visual Autonomous Parking via Control-Aided Attentioncited by 2
  24. 2021Maneuver-based Anchor Trajectory Hypotheses at Roundaboutscited by 1
  25. 2021OctoPath: An OcTree Based Self-Supervised Learning Approach to Local Trajectory Planning for Mobile Robotscited by 1
  26. 2022Exploring Map-based Features for Efficient Attention-based Vehicle Motion Predictioncited by 1
  27. 2022Movement Analytics: Current Status, Application to Manufacturing, and Future Prospects from an AI Perspectivecited by 1
  28. 2022Rethinking Trajectory Prediction via "Team Game"cited by 1
  29. 2023Recursive deep learning framework for forecasting the decadal world economic outlookcited by 1
  30. 2023Robustness Benchmark of Road User Trajectory Prediction Models for Automated Drivingcited by 1
  31. 2024GoalNet: Goal Areas Oriented Pedestrian Trajectory Predictioncited by 1
  32. 2024PreGSU-A Generalized Traffic Scene Understanding Model for Autonomous Driving based on Pre-trained Graph Attention Networkcited by 1
  33. 2024MSMA: Multi-agent Trajectory Prediction in Connected and Autonomous Vehicle Environment with Multi-source Data Integrationcited by 1
  34. 2025Risk-Informed Diffusion Transformer for Long-Tail Trajectory Prediction in the Crash Scenariocited by 1
  35. 2021Deep Generative Models for Vehicle Speed Trajectoriescited by 0
  36. 2023Lane Change Intention Recognition and Vehicle Status Prediction for Autonomous Vehiclescited by 0
  37. 2024WildGraph: Realistic Graph-based Trajectory Generation for Wildlifecited by 0
  38. 2024Traj-LLM: A New Exploration for Empowering Trajectory Prediction with Pre-trained Large Language Modelscited by 0

50 most cited of 55 All 55 (JSON)