Heterogeneous Edge-enhanced Spatial-temporal Graph Attention Network for Autonomous Driving Lane-changing Trajectory Planning
DONG Qing, NAKANO Kimihiko, YANG Bo, JI Xue-wu, LIU Ya-hui
China Journal of Highway and Transport . 2024, (3): 147 -156 .  DOI: 10.19721/j.cnki.1001-7372.2024.03.006

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