# Predicting Vehicle Behaviors Over An Extended Horizon Using Behavior Interaction Network

arXiv: https://arxiv.org/abs/1903.00848 · HTML: https://mlsanity.com/paper/1903.00848/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Mar 2019.

## Built on by (most cited first, 15 of 15)

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- [Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directions](https://mlsanity.com/paper/2307.07527/) (2023)
- [Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidance](https://mlsanity.com/paper/2103.14231/) (2021)
- [Transferable and Adaptable Driving Behavior Prediction](https://mlsanity.com/paper/2202.05140/) (2022)
- [Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directions](https://mlsanity.com/paper/2503.03262/) (2025)
- [NetTraj: A Network-based Vehicle Trajectory Prediction Model with Directional Representation and Spatiotemporal Attention Mechanisms](https://mlsanity.com/paper/2106.11175/) (2021)
- [Early Lane Change Prediction for Automated Driving Systems Using Multi-Task Attention-based Convolutional Neural Networks](https://mlsanity.com/paper/2109.10742/) (2021)
- [BiFF: Bi-level Future Fusion with Polyline-based Coordinate for Interactive Trajectory Prediction](https://mlsanity.com/paper/2306.14161/) (2023)
- [Vehicle Behavior Prediction and Generalization Using Imbalanced Learning Techniques](https://mlsanity.com/paper/2109.10656/) (2021)
- [Autonomous Navigation through intersections with Graph ConvolutionalNetworks and Conditional Imitation Learning for Self-driving Cars](https://mlsanity.com/paper/2102.00675/) (2021)
- [Toward Unified Practices in Trajectory Prediction Research on Bird's-Eye-View Datasets](https://mlsanity.com/paper/2405.00604/) (2024)
- [Rationale-aware Autonomous Driving Policy utilizing Safety Force Field implemented on CARLA Simulator](https://mlsanity.com/paper/2211.10237/) (2022)
- [A Socially Aware Reinforcement Learning Agent for The Single Track Road Problem](https://mlsanity.com/paper/2109.05486/) (2021)
- [Prediction of Nonlinear Oscillations in a Jumping Quarter-Car Model Using Reservoir Computing](https://mlsanity.com/paper/2609.22205/) (2026)

## Abstract (arXiv)

Anticipating possible behaviors of traffic participants is an essential capability of autonomous vehicles. Many behavior detection and maneuver recognition methods only have a very limited prediction horizon that leaves inadequate time and space for planning. To avoid unsatisfactory reactive decisions, it is essential to count long-term future rewards in planning, which requires extending the prediction horizon. In this paper, we uncover that clues to vehicle behaviors over an extended horizon can be found in vehicle interaction, which makes it possible to anticipate the likelihood of a certain behavior, even in the absence of any clear maneuver pattern. We adopt a recurrent neural network (RNN) for observation encoding, and based on that, we propose a novel vehicle behavior interaction network (VBIN) to capture the vehicle interaction from the hidden states and connection feature of each interaction pair. The output of our method is a probabilistic likelihood of multiple behavior classes, which matches the multimodal and uncertain nature of the distant future. A systematic comparison of our method against two state-of-the-art methods and another two baseline methods on a publicly available real highway dataset is provided, showing that our method has superior accuracy and advanced capability for interaction modeling.