mlsanityData to 7 Oct 2026

Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Driving

arXiv 2109.12764 ↗First posted 27 Sep 2021cs.LG cs.AI cs.ROcited by 36

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Abstract (arXiv)

Forecasting the trajectories of neighbor vehicles is a crucial step for decision making and motion planning of autonomous vehicles. This paper proposes a graph-based spatial-temporal convolutional network (GSTCN) to predict future trajectory distributions of all neighbor vehicles using past trajectories. This network tackles the spatial interactions using a graph convolutional network (GCN), and captures the temporal features with a convolutional neural network (CNN). The spatial-temporal features are encoded and decoded by a gated recurrent unit (GRU) network to generate future trajectory distributions. Besides, we propose a weighted adjacency matrix to describe the intensities of mutual influence between vehicles, and the ablation study demonstrates the effectiveness of our proposed scheme. Our network is evaluated on two real-world freeway trajectory datasets: I-80 and US-101 in the Next Generation Simulation (NGSIM).Comparisons in three aspects, including prediction errors, model sizes, and inference speeds, show that our network can achieve state-of-the-art performance.

Key facts. Cited by 36 papers in the map (data through 7 Oct 2026). Builds on 17 of its 55 references that are in the map. First posted on arXiv 27 Sep 2021.

Builds on

17 of 55 references.

References · 17

  1. 2017Attention Is All You Needcited by 59,932
  2. 2016Semi-Supervised Classification with Graph Convolutional Networkscited by 11,282
  3. 2014Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translationcited by 4,016
  4. 2017Spatio-Temporal Graph Convolutional Networks: A Deep Learning Framework for Traffic Forecastingcited by 1,125
  5. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 324
  6. 2019Human Motion Trajectory Prediction: A Surveycited by 231
  7. 2018Convolutional Social Pooling for Vehicle Trajectory Predictioncited by 221
  8. 2019Multi-Agent Tensor Fusion for Contextual Trajectory Predictioncited by 131
  9. 2018An LSTM Network for Highway Trajectory Predictioncited by 81
  10. 2018Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMscited by 77
  11. 2019GRIP++: Enhanced Graph-based Interaction-aware Trajectory Prediction for Autonomous Drivingcited by 73
  12. 2018How would surround vehicles move? A Unified Framework for Maneuver Classification and Motion Predictioncited by 46
5 more
  1. 2018Bike Flow Prediction with Multi-Graph Convolutional Networkscited by 42
  2. 2019Contextualized Spatial-Temporal Network for Taxi Origin-Destination Demand Predictioncited by 34
  3. 2019Intention-aware Long Horizon Trajectory Prediction of Surrounding Vehicles using Dual LSTM Networkscited by 22
  4. 2019Cooperation-Aware Lane Change Maneuver in Dense Traffic based on Model Predictive Control with Recurrent Neural Networkcited by 14
  5. 2019Interaction-aware Kalman Neural Networks for Trajectory Predictioncited by 9

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 14; 2024: 10; 2025: 5; 2026: 1.

36 papers.

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  1. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  2. 2022Cognitive Accident Prediction in Driving Scenes: A Multimodality Benchmarkcited by 16
  3. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  4. 2022HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillationcited by 11
  5. 2022Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learningcited by 11
  6. 2023Holistic Graph-based Motion Predictioncited by 10
  7. 2023EPG-MGCN: Ego-Planning Guided Multi-Graph Convolutional Network for Heterogeneous Agent Trajectory Predictioncited by 10
  8. 2023Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction using Diffusion Graph Convolutional Networkscited by 10
  9. 2022Pishgu: Universal Path Prediction Network Architecture for Real-time Cyber-physical Edge Systemscited by 9
  10. 2023Trajectory Prediction with Observations of Variable-Length for Motion Planning in Highway Merging scenarioscited by 6
  11. 2024Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoningcited by 6
  12. 2023Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Controlcited by 5
24 more
  1. 2023Distilling Knowledge for Short-to-Long Term Trajectory Predictioncited by 5
  2. 2023A Novel Temporal Multi-Gate Mixture-of-Experts Approach for Vehicle Trajectory and Driving Intention Predictioncited by 5
  3. 2024SocialFormer: Social Interaction Modeling with Edge-enhanced Heterogeneous Graph Transformers for Trajectory Predictioncited by 5
  4. 2024Cross-Domain Transfer Learning using Attention Latent Features for Multi-Agent Trajectory Predictioncited by 5
  5. 2024Towards Scalable & Efficient Interaction-Aware Planning in Autonomous Vehicles using Knowledge Distillationcited by 4
  6. 2022A Cooperation-Aware Lane Change Method for Autonomous Vehiclescited by 3
  7. 2024FollowGen: A Scaled Noise Conditional Diffusion Model for Car-Following Trajectory Predictioncited by 3
  8. 2026MAVEN-T: Reinforced Heterogeneous Distillation for Real-Time Multi-Agent Trajectory Predictioncited by 3
  9. 2022Global Update Guided Federated Learningcited by 2
  10. 2024ESP: Extro-Spective Prediction for Long-term Behavior Reasoning in Emergency Scenarioscited by 2
  11. 2024Crossfusor: A Cross-Attention Transformer Enhanced Conditional Diffusion Model for Car-Following Trajectory Predictioncited by 2
  12. 2023STF: Spatial Temporal Fusion for Trajectory Predictioncited by 1
  13. 2023Spatial-Temporal Conditional Random Field for Human Trajectory Predictioncited by 1
  14. 2023Probabilistic Prediction of Longitudinal Trajectory Considering Driving Heterogeneity with Interpretabilitycited by 1
  15. 2024Graph Neural Networks in Intelligent Transportation Systems: Advances, Applications and Trendscited by 1
  16. 2024Trajectory Prediction for Autonomous Driving using Agent-Interaction Graph Embeddingcited by 1
  17. 2025Adaptive Output Steps: FlexiSteps Network for Dynamic Trajectory Predictioncited by 1
  18. 2023Lane Change Intention Recognition and Vehicle Status Prediction for Autonomous Vehiclescited by 0
  19. 2023XInsight: Revealing Model Insights for GNNs with Flow-based Explanationscited by 0
  20. 2023Graph Convolutional Networks for Complex Traffic Scenario Classificationcited by 0
  21. 2024Traj-LLM: A New Exploration for Empowering Trajectory Prediction with Pre-trained Large Language Modelscited by 0
  22. 2025Spatial Temporal Attention based Target Vehicle Trajectory Prediction for Internet of Vehiclescited by 0
  23. 2025Sybil-based Virtual Data Poisoning Attacks in Federated Learningcited by 0
  24. 2025From Camera-Based Sensing to Reasoning: A Comprehensive Review Toward Proactive Vulnerable Road User Safetycited by 0