mlsanityData to 14 Oct 2026

EPG-MGCN: Ego-Planning Guided Multi-Graph Convolutional Network for Heterogeneous Agent Trajectory Prediction

arXiv 2303.17027 ↗First posted 29 Mar 2023cs.LG cs.CV cs.ROcited by 10

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Abstract (arXiv)

To drive safely in complex traffic environments, autonomous vehicles need to make an accurate prediction of the future trajectories of nearby heterogeneous traffic agents (i.e., vehicles, pedestrians, bicyclists, etc). Due to the interactive nature, human drivers are accustomed to infer what the future situations will become if they are going to execute different maneuvers. To fully exploit the impacts of interactions, this paper proposes a ego-planning guided multi-graph convolutional network (EPG-MGCN) to predict the trajectories of heterogeneous agents using both historical trajectory information and ego vehicle's future planning information. The EPG-MGCN first models the social interactions by employing four graph topologies, i.e., distance graphs, visibility graphs, planning graphs and category graphs. Then, the planning information of the ego vehicle is encoded by both the planning graph and the subsequent planning-guided prediction module to reduce uncertainty in the trajectory prediction. Finally, a category-specific gated recurrent unit (CS-GRU) encoder-decoder is designed to generate future trajectories for each specific type of agents. Our network is evaluated on two real-world trajectory datasets: ApolloScape and NGSIM. The experimental results show that the proposed EPG-MGCN achieves state-of-the-art performance compared to existing methods.

Key facts. Cited by 10 papers in the map (data through 14 Oct 2026). Builds on 35 of its 105 references that are in the map. First posted on arXiv 29 Mar 2023.

Builds on

35 of 105 references.

References · 35

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23 more
  1. 2019Multi-Agent Tensor Fusion for Contextual Trajectory Predictioncited by 131
  2. 2018TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agentscited by 111
  3. 2021LookOut: Diverse Multi-Future Prediction and Planning for Self-Drivingcited by 96
  4. 2018TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactionscited by 82
  5. 2020PiP: Planning-informed Trajectory Prediction for Autonomous Drivingcited by 80
  6. 2020TPNet: Trajectory Proposal Network for Motion Predictioncited by 80
  7. 2018Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMscited by 77
  8. 2019GRIP++: Enhanced Graph-based Interaction-aware Trajectory Prediction for Autonomous Drivingcited by 73
  9. 2020Diverse and Admissible Trajectory Forecasting through Multimodal Context Understandingcited by 68
  10. 2018How would surround vehicles move? A Unified Framework for Maneuver Classification and Motion Predictioncited by 46
  11. 2018Bike Flow Prediction with Multi-Graph Convolutional Networkscited by 42
  12. 2020How to Build a Graph-Based Deep Learning Architecture in Traffic Domain: A Surveycited by 38
  13. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  14. 2019Contextualized Spatial-Temporal Network for Taxi Origin-Destination Demand Predictioncited by 35
  15. 2017CAR-Net: Clairvoyant Attentive Recurrent Networkcited by 34
  16. 2019Predicting origin-destination ride-sourcing demand with a spatio-temporal encoder-decoder residual multi-graph convolutional networkcited by 23
  17. 2019Intention-aware Long Horizon Trajectory Prediction of Surrounding Vehicles using Dual LSTM Networkscited by 22
  18. 2019StarNet: Pedestrian Trajectory Prediction using Deep Neural Network in Star Topologycited by 17
  19. 2021Unlimited Neighborhood Interaction for Heterogeneous Trajectory Predictioncited by 17
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Cited by year

Citing papers per year: 2024: 5; 2025: 5.

10 papers.

  1. 2024HAIM-DRL: Enhanced Human-in-the-loop Reinforcement Learning for Safe and Efficient Autonomous Drivingcited by 32
  2. 2025CurricuVLM: Towards Safe Autonomous Driving via Personalized Safety-Critical Curriculum Learning with Vision-Language Modelscited by 12
  3. 2024Trustworthy Human-AI Collaboration: Reinforcement Learning with Human Feedback and Physics Knowledge for Safe Autonomous Drivingcited by 8
  4. 2024Traffic expertise meets residual RL: Knowledge-informed model-based residual reinforcement learning for CAV trajectory controlcited by 7
  5. 2024Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoningcited by 6
  6. 2024MetaSSC: Enhancing 3D Semantic Scene Completion for Autonomous Driving through Meta-Learning and Long-sequence Modelingcited by 4
  7. 2025Diffusion^2: Dual Diffusion Model with Uncertainty-Aware Adaptive Noise for Momentary Trajectory Predictioncited by 1
  8. 2025Addressing Corner Cases in Autonomous Driving: A World Model-based Approach with Mixture of Experts and LLMscited by 1
  9. 2025Prediction of the Most Fire-Sensitive Point in Building Structures with Differentiable Agents for Thermal Simulatorscited by 0
  10. 2025Sky-Drive: A Distributed Multi-Agent Simulation Platform for Human-AI Collaborative and Socially-Aware Future Transportationcited by 0