{"id":"https://openalex.org/W4412837221","doi":"https://doi.org/10.1109/mits.2025.3579798","title":"A Structure-Aware Lane Graph Transformer Model for Vehicle Trajectory Prediction","display_name":"A Structure-Aware Lane Graph Transformer Model for Vehicle Trajectory Prediction","publication_year":2025,"publication_date":"2025-08-01","ids":{"openalex":"https://openalex.org/W4412837221","doi":"https://doi.org/10.1109/mits.2025.3579798"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2025.3579798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2025.3579798","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Transportation Systems Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103215786","display_name":"Zhanbo Sun","orcid":"https://orcid.org/0000-0002-0707-055X"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhanbo Sun","raw_affiliation_strings":["School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Caiyin Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caiyin Dong","raw_affiliation_strings":["School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036743274","display_name":"Ang Ji","orcid":"https://orcid.org/0000-0002-7943-7461"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ang Ji","raw_affiliation_strings":["School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-7943-7461","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100626031","display_name":"Ruibin Zhao","orcid":"https://orcid.org/0000-0002-2153-9617"},"institutions":[{"id":"https://openalex.org/I4210148536","display_name":"Suzhou Electrical Apparatus Science Academy","ror":"https://ror.org/056tm2d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210148536"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruibin Zhao","raw_affiliation_strings":["Zelos (Suzhou) Intelligent Technology Co. Ltd., Suzhou, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zelos (Suzhou) Intelligent Technology Co. Ltd., Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I4210148536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100433761","display_name":"Yu Zhao","orcid":"https://orcid.org/0009-0001-0804-3991"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhao","raw_affiliation_strings":["School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics, and the National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103215786"],"corresponding_institution_ids":["https://openalex.org/I4800084"],"apc_list":null,"apc_paid":null,"fwci":0.8988,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75999328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"18","issue":"1","first_page":"27","last_page":"40"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5586357712745667},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5559680461883545},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5136979818344116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2510714530944824},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.13592690229415894},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1134156584739685}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5586357712745667},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5559680461883545},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5136979818344116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2510714530944824},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.13592690229415894},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1134156584739685},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mits.2025.3579798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2025.3579798","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Transportation Systems Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G525634281","display_name":null,"funder_award_id":"52302418","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G714279528","display_name":null,"funder_award_id":"2682023CX047","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8070637844","display_name":null,"funder_award_id":"52072316","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2424778531","https://openalex.org/W2766836212","https://openalex.org/W2801667201","https://openalex.org/W2955189650","https://openalex.org/W2958547995","https://openalex.org/W2990783906","https://openalex.org/W3034722190","https://openalex.org/W3108486966","https://openalex.org/W3128196514","https://openalex.org/W3139491754","https://openalex.org/W3169575318","https://openalex.org/W3199048838","https://openalex.org/W3204875639","https://openalex.org/W4210389721","https://openalex.org/W4312731878","https://openalex.org/W4313590738","https://openalex.org/W4376870884","https://openalex.org/W4382239854","https://openalex.org/W4383109074","https://openalex.org/W4383172002","https://openalex.org/W4385245566","https://openalex.org/W4386065605","https://openalex.org/W4386076672","https://openalex.org/W4386432277","https://openalex.org/W4389692455","https://openalex.org/W4390492375","https://openalex.org/W4393153766","https://openalex.org/W4394746775","https://openalex.org/W4399206503","https://openalex.org/W4402916169","https://openalex.org/W4403936626"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4323768008"],"abstract_inverted_index":{"Accurate":[0],"prediction":[1,88],"of":[2,14,65,90,141,158],"future":[3],"trajectories":[4],"for":[5,10],"surrounding":[6],"vehicles":[7],"is":[8,163],"vital":[9],"the":[11,35,40,62,66,91,97,103,116,122,130,139,151,156],"safe":[12],"operation":[13],"autonomous":[15],"vehicles.":[16],"This":[17],"study":[18],"proposes":[19],"a":[20,147],"Lane":[21],"Graph":[22],"Transformer":[23],"(LGT)":[24],"model":[25,100,119],"with":[26],"structure-aware":[27],"capabilities.":[28],"Its":[29],"key":[30],"contribution":[31],"lies":[32],"in":[33,46,150],"encoding":[34,55],"map":[36,67,142],"topology":[37,68,143],"structure":[38,144],"into":[39],"attention":[41],"mechanism.":[42],"To":[43],"address":[44],"variations":[45],"lane":[47],"information":[48,82],"from":[49],"different":[50],"directions,":[51],"four":[52],"relative":[53],"positional":[54],"(RPE)":[56],"matrices":[57,76],"are":[58,77],"introduced":[59],"to":[60,79,115,129,146],"capture":[61,80],"local":[63],"details":[64],"structure.":[69],"Additionally,":[70],"two":[71,84],"shortest":[72],"path":[73],"distance":[74,81],"(SPD)":[75],"employed":[78],"between":[83],"accessible":[85],"lanes.":[86],"The":[87],"results":[89],"Argoverse":[92],"2":[93],"dataset":[94],"indicate":[95],"that":[96,138],"proposed":[98],"LGT":[99],"can":[101],"decrease":[102],"minimum":[104],"final":[105],"displacement":[106],"error":[107],"(minFDE<sub":[108],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[109,124,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">6</sub>)":[110],"metric":[111],"by":[112,126],"60.73%":[113],"compared":[114,128],"nearest":[117],"neighbor":[118],"and":[120],"reduce":[121],"b-minFDE<sub":[123],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">6</sub>":[125],"2.65%":[127],"baseline":[131],"LaneGCN":[132],"model.":[133,160],"Furthermore,":[134],"ablation":[135],"experiments":[136],"demonstrated":[137],"consideration":[140],"led":[145],"4.24%":[148],"drop":[149],"b-":[152],"minFDE6":[153],"metric,":[154],"validating":[155],"effectiveness":[157],"this":[159],"Our":[161],"code":[162],"publicly":[164],"available":[165],"at:":[166],"<ext-link":[167],"ext-link-type=\"uri\"":[168],"xlink:href=\"https://github.com/dongcaiyin/LGT2024\"":[169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/dongcaiyin/LGT2024</ext-link>.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-10T23:39:48.068659","created_date":"2025-10-10T00:00:00"}
