mlsanityData to 14 Oct 2026

KI-GAN: Knowledge-Informed Generative Adversarial Networks for Enhanced Multi-Vehicle Trajectory Forecasting at Signalized Intersections

arXiv 2404.11181 ↗First posted 17 Apr 2024cs.LG cs.AI cs.ROcited by 4

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Abstract (arXiv)

Reliable prediction of vehicle trajectories at signalized intersections is crucial to urban traffic management and autonomous driving systems. However, it presents unique challenges, due to the complex roadway layout at intersections, involvement of traffic signal controls, and interactions among different types of road users. To address these issues, we present in this paper a novel model called Knowledge-Informed Generative Adversarial Network (KI-GAN), which integrates both traffic signal information and multi-vehicle interactions to predict vehicle trajectories accurately. Additionally, we propose a specialized attention pooling method that accounts for vehicle orientation and proximity at intersections. Based on the SinD dataset, our KI-GAN model is able to achieve an Average Displacement Error (ADE) of 0.05 and a Final Displacement Error (FDE) of 0.12 for a 6-second observation and 6-second prediction cycle. When the prediction window is extended to 9 seconds, the ADE and FDE values are further reduced to 0.11 and 0.26, respectively. These results demonstrate the effectiveness of the proposed KI-GAN model in vehicle trajectory prediction under complex scenarios at signalized intersections, which represents a significant advancement in the target field.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 22 of its 50 references that are in the map. First posted on arXiv 17 Apr 2024.

Builds on

22 of 50 references.

References · 22

  1. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  2. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 690
  3. 2019INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Mapscited by 231
  4. 2019Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networkscited by 229
  5. 2021Multimodal Motion Prediction with Stacked Transformerscited by 208
  6. 2019The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersectionscited by 137
  7. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  8. 2018An LSTM Network for Highway Trajectory Predictioncited by 81
  9. 2017Probabilistic Vehicle Trajectory Prediction over Occupancy Grid Map via Recurrent Neural Networkcited by 56
  10. 2022FJMP: Factorized Joint Multi-Agent Motion Prediction over Learned Directed Acyclic Interaction Graphscited by 41
  11. 2022SIND: A Drone Dataset at Signalized Intersection in Chinacited by 30
  12. 2018Naturalistic Driver Intention and Path Prediction using Recurrent Neural Networkscited by 29
10 more
  1. 2020openDD: A Large-Scale Roundabout Drone Datasetcited by 29
  2. 2021Graph and Recurrent Neural Network-based Vehicle Trajectory Prediction For Highway Drivingcited by 19
  3. 2021Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networkscited by 14
  4. 2022Social-PatteRNN: Socially-Aware Trajectory Prediction Guided by Motion Patternscited by 12
  5. 2022D2-TPred: Discontinuous Dependency for Trajectory Prediction under Traffic Lightscited by 10
  6. 2021Predicting Vehicles Trajectories in Urban Scenarios with Transformer Networks and Augmented Informationcited by 9
  7. 2022Trajectory Prediction for Vehicle Conflict Identification at Intersections Using Sequence-to-Sequence Recurrent Neural Networkscited by 5
  8. 2018Towards a Fatality-Aware Benchmark of Probabilistic Reaction Prediction in Highly Interactive Driving Scenarioscited by 3
  9. 2019Impact of Traffic Lights on Trajectory Forecasting of Human-driven Vehicles Near Signalized Intersectionscited by 3
  10. 2023Interaction-Aware Personalized Vehicle Trajectory Prediction Using Temporal Graph Neural Networkscited by 2

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Cited by year

Citing papers per year: 2024: 1; 2025: 3.

4 papers.

  1. 2025PDB: Not All Drivers Are the Same -- A Personalized Dataset for Understanding Driving Behaviorcited by 6
  2. 2024Toward Unified Practices in Trajectory Prediction Research on Bird's-Eye-View Datasetscited by 2
  3. 2025Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everythingcited by 2
  4. 2025V2X-RECT: An Efficient V2X Trajectory Prediction Framework via Redundant Interaction Filtering and Tracking Error Correctioncited by 0