# BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Driving

arXiv: https://arxiv.org/abs/2312.06371 · HTML: https://mlsanity.com/paper/2312.06371/

## Key facts

- Cited by 28 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 53 references that are in the map.
- First posted on arXiv 11 Dec 2023.

## Builds on (most cited first, 17 of 17)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [Learning Lane Graph Representations for Motion Forecasting](https://mlsanity.com/paper/2007.13732/) (2020)
- [The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems](https://mlsanity.com/paper/1810.05642/) (2018)
- [Convolutional Social Pooling for Vehicle Trajectory Prediction](https://mlsanity.com/paper/1805.06771/) (2018)
- [Multiple Futures Prediction](https://mlsanity.com/paper/1911.00997/) (2019)
- [Multi-Agent Tensor Fusion for Contextual Trajectory Prediction](https://mlsanity.com/paper/1904.04776/) (2019)
- [TPCN: Temporal Point Cloud Networks for Motion Forecasting](https://mlsanity.com/paper/2103.03067/) (2021)
- [Imitating Driver Behavior with Generative Adversarial Networks](https://mlsanity.com/paper/1701.06699/) (2017)
- [Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMs](https://mlsanity.com/paper/1805.05499/) (2018)
- [SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Driving](https://mlsanity.com/paper/2206.14116/) (2022)
- [Social Coordination and Altruism in Autonomous Driving](https://mlsanity.com/paper/2107.00200/) (2021)
- [Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidance](https://mlsanity.com/paper/2103.14231/) (2021)
- [MPCViT: Searching for Accurate and Efficient MPC-Friendly Vision Transformer with Heterogeneous Attention](https://mlsanity.com/paper/2211.13955/) (2022)
- [CMetric: A Driving Behavior Measure Using Centrality Functions](https://mlsanity.com/paper/2003.04424/) (2020)
- [Hierarchical Motion Encoder-Decoder Network for Trajectory Forecasting](https://mlsanity.com/paper/2111.13324/) (2021)
- [Maneuver-Aware Pooling for Vehicle Trajectory Prediction](https://mlsanity.com/paper/2104.14079/) (2021)

## Built on by (most cited first, 28 of 28)

- [A Cognitive-Based Trajectory Prediction Approach for Autonomous Driving](https://mlsanity.com/paper/2402.19251/) (2024)
- [Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directions](https://mlsanity.com/paper/2503.03262/) (2025)
- [Trajectory Prediction Meets Large Language Models: A Survey](https://mlsanity.com/paper/2506.03408/) (2025)
- [MFTraj: Map-Free, Behavior-Driven Trajectory Prediction for Autonomous Driving](https://mlsanity.com/paper/2405.01266/) (2024)
- [NEST: A Neuromodulated Small-world Hypergraph Trajectory Prediction Model for Autonomous Driving](https://mlsanity.com/paper/2412.11682/) (2024)
- [Minds on the Move: Decoding Trajectory Prediction in Autonomous Driving with Cognitive Insights](https://mlsanity.com/paper/2502.20084/) (2025)
- [Goal-based Neural Physics Vehicle Trajectory Prediction Model](https://mlsanity.com/paper/2409.15182/) (2024)
- [DRIVE: Dependable Robust Interpretable Visionary Ensemble Framework in Autonomous Driving](https://mlsanity.com/paper/2409.10330/) (2024)
- [Masked Temporal Interpolation Diffusion for Procedure Planning in Instructional Videos](https://mlsanity.com/paper/2507.03393/) (2025)
- [Learning Through Retrospection: Improving Trajectory Prediction for Automated Driving with Error Feedback](https://mlsanity.com/paper/2504.13785/) (2025)
- [Beyond Patterns: Harnessing Causal Logic for Autonomous Driving Trajectory Prediction](https://mlsanity.com/paper/2505.06856/) (2025)
- [AMD: Adaptive Momentum and Decoupled Contrastive Learning Framework for Robust Long-Tail Trajectory Prediction](https://mlsanity.com/paper/2507.01801/) (2025)
- [FollowGen: A Scaled Noise Conditional Diffusion Model for Car-Following Trajectory Prediction](https://mlsanity.com/paper/2411.16747/) (2024)
- [Ranking-based Client Selection with Imitation Learning for Efficient Federated Learning](https://mlsanity.com/paper/2405.04122/) (2024)
- [A Structure-Aware Lane Graph Transformer Model for Vehicle Trajectory Prediction](https://mlsanity.com/paper/2405.20121/) (2024)
- [Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everything](https://mlsanity.com/paper/2501.13461/) (2025)
- [SafeCast: Risk-Responsive Motion Forecasting for Autonomous Vehicles](https://mlsanity.com/paper/2503.22541/) (2025)
- [LitSim: A Conflict-aware Policy for Long-term Interactive Traffic Simulation](https://mlsanity.com/paper/2403.04299/) (2024)
- [Interpretable Interaction Modeling for Trajectory Prediction via Agent Selection and Physical Coefficient](https://mlsanity.com/paper/2405.13152/) (2024)
- [Addressing Corner Cases in Autonomous Driving: A World Model-based Approach with Mixture of Experts and LLMs](https://mlsanity.com/paper/2510.21867/) (2025)
- [Traj-LLM: A New Exploration for Empowering Trajectory Prediction with Pre-trained Large Language Models](https://mlsanity.com/paper/2405.04909/) (2024)
- [Characterized Diffusion Networks for Enhanced Autonomous Driving Trajectory Prediction](https://mlsanity.com/paper/2411.16457/) (2024)
- [SAIL: Scene-aware Adaptive Iterative Learning for Long-Tail Trajectory Prediction in Autonomous Vehicles](https://mlsanity.com/paper/2604.04573/) (2026)
- [EdgeVTP: Exploration of Latency-efficient Trajectory Prediction for Edge-based Embedded Vision Applications](https://mlsanity.com/paper/2604.16783/) (2026)
- [From Cues to Horizons: Dynamic Risk Horizon Profiling for Trajectory Prediction](https://mlsanity.com/paper/2606.00857/) (2026)
- [SWIFT: A Small-World Interaction Framework for Flow-Aware Trajectory Prediction in Autonomous Driving](https://mlsanity.com/paper/2607.09741/) (2026)
- [Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidance](https://mlsanity.com/paper/2608.03521/) (2026)
- [PersonaDrive: Controllable Trajectory Prediction with Multi-Dimensional Driving Personas](https://mlsanity.com/paper/2608.15230/) (2026)

## Abstract (arXiv)

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model (BAT) that incorporates insights and findings from traffic psychology, human behavior, and decision-making. Our model consists of behavior-aware, interaction-aware, priority-aware, and position-aware modules that perceive and understand the underlying interactions and account for uncertainty and variability in prediction, enabling higher-level learning and flexibility without rigid categorization of driving behavior. Importantly, this approach eliminates the need for manual labeling in the training process and addresses the challenges of non-continuous behavior labeling and the selection of appropriate time windows. We evaluate BAT's performance across the Next Generation Simulation (NGSIM), Highway Drone (HighD), Roundabout Drone (RounD), and Macao Connected Autonomous Driving (MoCAD) datasets, showcasing its superiority over prevailing state-of-the-art (SOTA) benchmarks in terms of prediction accuracy and efficiency. Remarkably, even when trained on reduced portions of the training data (25%), our model outperforms most of the baselines, demonstrating its robustness and efficiency in predicting vehicle trajectories, and the potential to reduce the amount of data required to train autonomous vehicles, especially in corner cases. In conclusion, the behavior-aware model represents a significant advancement in the development of autonomous vehicles capable of predicting trajectories with the same level of proficiency as human drivers. The project page is available at https://github.com/Petrichor625/BATraj-Behavior-aware-Model.