{"id":"https://openalex.org/W4413785622","doi":"https://doi.org/10.1109/tce.2025.3603330","title":"Smart-City Spatiotemporal Data-Driven Trajectory Prediction for Autonomous Vehicles via Attention Mechanisms and Self-Supervised Learning","display_name":"Smart-City Spatiotemporal Data-Driven Trajectory Prediction for Autonomous Vehicles via Attention Mechanisms and Self-Supervised Learning","publication_year":2025,"publication_date":"2025-08-28","ids":{"openalex":"https://openalex.org/W4413785622","doi":"https://doi.org/10.1109/tce.2025.3603330"},"language":"en","primary_location":{"id":"doi:10.1109/tce.2025.3603330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3603330","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Transactions on Consumer Electronics","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/A5088744661","display_name":"Ziyu Song","orcid":"https://orcid.org/0000-0001-7429-3721"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyu Song","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-7429-3721","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634116","display_name":"Haitao Ding","orcid":"https://orcid.org/0000-0003-2729-2907"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Ding","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-2729-2907","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035987641","display_name":"Leila Jamel","orcid":"https://orcid.org/0000-0002-6664-5923"},"institutions":[{"id":"https://openalex.org/I106778892","display_name":"Princess Nourah bint Abdulrahman University","ror":"https://ror.org/05b0cyh02","country_code":"SA","type":"education","lineage":["https://openalex.org/I106778892"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Leila Jamel","raw_affiliation_strings":["Department of Information Systems, College of Computer and Information Sciences, Princess Nourah bint Abdulrahman University, P.O. Box 84428, Riyadh, Saudi Arabia","Department of Information Systems, College of Computer and Information Sciences, Princess Nourah bint Abdulrahman University, Riyadh, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-6664-5923","affiliations":[{"raw_affiliation_string":"Department of Information Systems, College of Computer and Information Sciences, Princess Nourah bint Abdulrahman University, P.O. Box 84428, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I106778892"]},{"raw_affiliation_string":"Department of Information Systems, College of Computer and Information Sciences, Princess Nourah bint Abdulrahman University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I106778892"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106484204","display_name":"Jing Yang","orcid":"https://orcid.org/0009-0008-0467-5984"},"institutions":[{"id":"https://openalex.org/I33849332","display_name":"University of Malaya","ror":"https://ror.org/00rzspn62","country_code":"MY","type":"education","lineage":["https://openalex.org/I33849332"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Jing Yang","raw_affiliation_strings":["Center of Research for Cyber Security and Network, Faculty of Computer Science and Information Technology, Universiti Malaya, Kuala Lumpur, Malaysia","Faculty of Computer Science and Information Technology, Center of Research for Cyber Security and Network CSNET, Universiti Malaya, Kuala Lumpur, Malaysia"],"raw_orcid":"https://orcid.org/0009-0008-0467-5984","affiliations":[{"raw_affiliation_string":"Center of Research for Cyber Security and Network, Faculty of Computer Science and Information Technology, Universiti Malaya, Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I33849332"]},{"raw_affiliation_string":"Faculty of Computer Science and Information Technology, Center of Research for Cyber Security and Network CSNET, Universiti Malaya, Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I33849332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100732302","display_name":"Muhammad Attique Khan","orcid":"https://orcid.org/0000-0001-5723-3858"},"institutions":[{"id":"https://openalex.org/I138564716","display_name":"Prince Mohammad bin Fahd University","ror":"https://ror.org/03d64na34","country_code":"SA","type":"education","lineage":["https://openalex.org/I138564716"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Muhammad Attique Khan","raw_affiliation_strings":["Center of AI, Prince Mohammad bin Fahd University, Al Khobar, Saudi Arabia","Center of AI, Prince Mohammad bin Fahd University, KSA"],"raw_orcid":"https://orcid.org/0000-0001-5723-3858","affiliations":[{"raw_affiliation_string":"Center of AI, Prince Mohammad bin Fahd University, Al Khobar, Saudi Arabia","institution_ids":["https://openalex.org/I138564716"]},{"raw_affiliation_string":"Center of AI, Prince Mohammad bin Fahd University, KSA","institution_ids":["https://openalex.org/I138564716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011354002","display_name":"J. M. G\u00f3rriz","orcid":"https://orcid.org/0000-0001-7069-1714"},"institutions":[{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan M. Gorriz","raw_affiliation_strings":["Data Science and Computational Intelligence Institute, University of Granada, Melilla, Spain","Data Science and Computational Intelligence Institute, University of Granada, Spain"],"raw_orcid":"https://orcid.org/0000-0001-7069-1714","affiliations":[{"raw_affiliation_string":"Data Science and Computational Intelligence Institute, University of Granada, Melilla, Spain","institution_ids":["https://openalex.org/I173304897"]},{"raw_affiliation_string":"Data Science and Computational Intelligence Institute, University of Granada, Spain","institution_ids":["https://openalex.org/I173304897"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076085699","display_name":"Jamel Baili","orcid":"https://orcid.org/0000-0001-5564-6114"},"institutions":[{"id":"https://openalex.org/I82952536","display_name":"King Khalid University","ror":"https://ror.org/052kwzs30","country_code":"SA","type":"education","lineage":["https://openalex.org/I82952536"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Jamel Baili","raw_affiliation_strings":["Department of Computer Engineering, College of Computer Science, King Khalid University, Abha, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0001-5564-6114","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, College of Computer Science, King Khalid University, Abha, Saudi Arabia","institution_ids":["https://openalex.org/I82952536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003091988","display_name":"Lip Yee Por","orcid":"https://orcid.org/0000-0001-5865-1533"},"institutions":[{"id":"https://openalex.org/I33849332","display_name":"University of Malaya","ror":"https://ror.org/00rzspn62","country_code":"MY","type":"education","lineage":["https://openalex.org/I33849332"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Lip Yee Por","raw_affiliation_strings":["Center of Research for Cyber Security and Network, Faculty of Computer Science and Information Technology, Universiti Malaya, Kuala Lumpur, Malaysia","Faculty of Computer Science and Information Technology, Center of Research for Cyber Security and Network CSNET, Universiti Malaya, Kuala Lumpur, Malaysia"],"raw_orcid":"https://orcid.org/0000-0001-5865-1533","affiliations":[{"raw_affiliation_string":"Center of Research for Cyber Security and Network, Faculty of Computer Science and Information Technology, Universiti Malaya, Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I33849332"]},{"raw_affiliation_string":"Faculty of Computer Science and Information Technology, Center of Research for Cyber Security and Network CSNET, Universiti Malaya, Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I33849332"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.1578,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.95542282,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"71","issue":"4","first_page":"11834","last_page":"11845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.996999979019165,"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":0.996999979019165,"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":0.9757999777793884,"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"}},{"id":"https://openalex.org/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.9520000219345093,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6930012106895447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6383255124092102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5413167476654053},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.428615927696228}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6930012106895447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6383255124092102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5413167476654053},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.428615927696228},{"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/tce.2025.3603330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3603330","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Transactions on Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322484","display_name":"Princess Nourah Bint Abdulrahman University","ror":"https://ror.org/05b0cyh02"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2963504694","https://openalex.org/W2967177252","https://openalex.org/W2985871763","https://openalex.org/W3004389598","https://openalex.org/W3035574168","https://openalex.org/W3035671534","https://openalex.org/W3108486966","https://openalex.org/W3116651890","https://openalex.org/W3139491754","https://openalex.org/W3169575318","https://openalex.org/W3180491419","https://openalex.org/W3196864007","https://openalex.org/W3198662297","https://openalex.org/W4206153319","https://openalex.org/W4226440390","https://openalex.org/W4308080107","https://openalex.org/W4320919070","https://openalex.org/W4376464702","https://openalex.org/W4387250099","https://openalex.org/W4387250101","https://openalex.org/W4390423504","https://openalex.org/W4390872831","https://openalex.org/W4391454575","https://openalex.org/W4391647410","https://openalex.org/W4392826107","https://openalex.org/W4400646293","https://openalex.org/W4404086843","https://openalex.org/W4405022948"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W4387369504","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W3107602296","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"In":[0,34],"smart-city":[1,243],"deployments,":[2],"vast":[3],"spatiotemporal":[4,240],"trajectory":[5,40,125],"data":[6],"are":[7,56],"generated":[8],"by":[9,147,153],"consumer-electronics":[10],"sensors,":[11],"such":[12,24],"as":[13],"in-vehicle":[14],"devices.":[15],"Predicting":[16],"the":[17,51,66,87,97,131,136,142,157,194,210,236],"future":[18],"movements":[19],"of":[20,61,169],"traffic":[21,244],"participants":[22],"in":[23,31,242],"complex":[25],"environments":[26],"is":[27,69,83,108,139,183],"a":[28,39,59,79],"fundamental":[29],"task":[30],"autonomous":[32],"driving.":[33],"this":[35],"study,":[36],"we":[37],"proposed":[38],"prediction":[41,126,137,187],"strategy":[42],"based":[43,71],"on":[44,72,130,231],"attention":[45,98],"mechanism":[46,82],"and":[47,53,58,117,151,202,216,221],"self-supervised":[48,106],"learning.":[49],"First,":[50],"agent":[52,68,103,118],"map":[54],"features":[55],"extracted,":[57],"set":[60],"searched":[62],"candidate":[63,77],"paths":[64],"for":[65,174,229,238],"target":[67],"constructed":[70],"prior":[73],"knowledge.":[74],"Leveraging":[75],"these":[76],"paths,":[78],"feature":[80,93],"selection":[81],"introduced":[84],"to":[85,89,101,110,149,156,185,197],"enable":[86],"model":[88,102,138],"adaptively":[90],"select":[91],"relevant":[92],"vectors.":[94],"This":[95],"enhances":[96],"mechanism\u2019s":[99],"ability":[100,196],"interactions.":[104],"Furthermore,":[105],"learning":[107],"utilized":[109],"design":[111],"auxiliary":[112],"tasks,":[113,209],"including":[114],"path":[115],"classification":[116],"interaction":[119],"strength":[120],"estimation,":[121],"which":[122],"further":[123],"improve":[124],"performance.":[127,188],"Extensive":[128],"experiments":[129,192],"nuScenes":[132],"dataset":[133],"demonstrate":[134],"that":[135,180],"competitive":[140],"with":[141,165],"state-of-the-art":[143],"models,":[144],"reducing":[145],"minADE":[146],"up":[148],"32.6%":[150],"minFDE":[152],"40.8%":[154],"compared":[155],"latest":[158],"DICE":[159],"model,":[160],"while":[161],"maintaining":[162],"real-time":[163],"inference":[164],"an":[166],"average":[167],"runtime":[168],"14.9":[170],"ms":[171],"per":[172],"frame":[173],"8":[175],"agents.":[176],"Ablation":[177],"studies":[178],"indicate":[179],"each":[181],"component":[182],"essential":[184],"ensure":[186],"Finally,":[189],"closed-loop":[190],"Vehicle-in-the-Loop":[191],"validate":[193],"model\u2019s":[195],"generate":[198],"meaningful":[199],"multimodal":[200],"predictions":[201],"effectively":[203],"integrate":[204],"them":[205],"into":[206],"downstream":[207],"planning":[208],"prediction-aware":[211],"planner":[212],"yields":[213],"enhanced":[214],"safety":[215],"comfort":[217],"over":[218],"existing":[219],"baselines,":[220],"its":[222],"low":[223],"computational":[224],"cost":[225],"highlights":[226],"strong":[227],"potential":[228],"deployment":[230],"consumer":[232],"electronics":[233],"platforms,":[234],"laying":[235],"groundwork":[237],"intelligent":[239],"analytics":[241],"management.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}