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Bonan Wang

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7 papers

1 author row

IJCAI Conference 2025 Conference Paper

Beyond Patterns: Harnessing Causal Logic for Autonomous Driving Trajectory Prediction

Bonan Wang
Haicheng Liao
Chengyue Wang
Bin Rao
Yanchen Guan
Guyang Yu
Jiaxun Zhang
Songning Lai

Accurate trajectory prediction has long been a major challenge for autonomous driving (AD). Traditional data-driven models predominantly rely on statistical correlations, often overlooking the causal relationships that govern traffic behavior. In this paper, we introduce a novel trajectory prediction framework that leverages causal inference to enhance predictive robustness, generalization, and accuracy. By decomposing the environment into spatial and temporal components, our approach identifies and mitigates spurious correlations, uncovering genuine causal relationships. We also employ a progressive fusion strategy to integrate multimodal information, simulating human-like reasoning processes and enabling real-time inference. Evaluations on five real-world datasets—ApolloScape, nuScenes, NGSIM, HighD, and MoCAD—demonstrate our model's superiority over existing state-of-the-art (SOTA) methods, with improvements in key metrics such as RMSE and FDE. Our findings highlight the potential of causal reasoning to transform trajectory prediction, paving the way for robust AD systems.

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IJCAI Conference 2025 Conference Paper

Incorporating Legal Logic into Deep Learning: An Intelligent Approach to Probation Prediction

Qinghua Wang
Xu Zhang
Lingyan Yang
Rui Shao
Bonan Wang
Fang Wang
Cunquan Qu

Probation is a crucial institution in modern criminal law, embodying the principles of fairness and justice while contributing to the harmonious development of society. Despite its importance, the current Intelligent Judicial Assistant System (IJAS) lacks dedicated methods for probation prediction, and research on the underlying factors influencing probation eligibility remains limited. In addition, probation eligibility requires a comprehensive analysis of both criminal circumstances and remorse. Much of the existing research in IJAS relies primarily on data-driven methodologies, which often overlooks the legal logic underpinning judicial decision-making. To address this gap, we propose a novel approach that integrates legal logic into deep learning models for probation prediction, implemented in three distinct stages. First, we construct a specialized probation dataset that includes fact descriptions and probation legal elements (PLEs). Second, we design a distinct probation prediction model named the Multi-Task Dual-Theory Probation Prediction Model (MT-DT), which is grounded in the legal logic of probation and the Dual-Track Theory of Punishment. Finally, our experiments on the probation dataset demonstrate that the MT-DT model outperforms baseline models, and an analysis of the underlying legal logic further validates the effectiveness of the proposed approach.

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AAAI Conference 2025 Conference Paper

NEST: A Neuromodulated Small-world Hypergraph Trajectory Prediction Model for Autonomous Driving

Chengyue Wang
Haicheng Liao
Bonan Wang
Yanchen Guan
Bin Rao
Ziyuan Pu
Zhiyong Cui
Cheng-Zhong Xu

Accurate trajectory prediction is essential for the safety and efficiency of autonomous driving. Traditional models often struggle with real-time processing, capturing non-linearity and uncertainty in traffic environments, efficiency in dense traffic, and modeling temporal dynamics of interactions. We introduce NEST (Neuromodulated Small-world Hypergraph Trajectory Prediction), a novel framework that integrates Small-world Networks and hypergraphs for superior interaction modeling and prediction accuracy. This integration enables the capture of both local and extended vehicle interactions, while the Neuromodulator component adapts dynamically to changing traffic conditions. We validate the NEST model on several real-world datasets, including nuScenes, MoCAD, and HighD. The results consistently demonstrate that NEST outperforms existing methods in various traffic scenarios, showcasing its exceptional generalization capability, efficiency, and temporal foresight. Our comprehensive evaluation illustrates that NEST significantly improves the reliability and operational efficiency of autonomous driving systems, making it a robust solution for trajectory prediction in complex traffic environments.

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IJCAI Conference 2024 Conference Paper

A Cognitive-Driven Trajectory Prediction Model for Autonomous Driving in Mixed Autonomy Environments

Haicheng Liao
Zhenning Li
Chengyue Wang
Bonan Wang
Hanlin Kong
Yanchen Guan
Guofa Li
Zhiyong Cui

As autonomous driving technology progresses, the need for precise trajectory prediction models becomes paramount. This paper introduces an innovative model that infuses cognitive insights into trajectory prediction, focusing on perceived safety and dynamic decision-making. Distinct from traditional approaches, our model excels in analyzing interactions and behavior patterns in mixed autonomy traffic scenarios. We introduce the Macao Connected Autonomous Driving (MoCAD) dataset as part of our contributions, which adds value to its complex urban driving scenarios. Our model represents a significant leap forward, achieving marked performance improvements on several key datasets. Specifically, it surpasses existing benchmarks with gains of 16. 2% on the Next Generation Simulation (NGSIM), 27. 4% on the Highway Drone (HighD), and 19. 8% on the MoCAD dataset. Our proposed model shows exceptional proficiency in handling corner cases, essential for real-world applications. Moreover, its robustness is evident in scenarios with missing or limited data, outperforming most of the state-of-the-art baselines. This adaptability and resilience position our model as a viable tool for real-world autonomous driving systems, heralding a new standard in vehicle trajectory prediction for enhanced safety and efficiency.

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IJCAI Conference 2024 Conference Paper

CDSTraj: Characterized Diffusion and Spatial-Temporal Interaction Network for Trajectory Prediction in Autonomous Driving

Haicheng Liao
Xuelin Li
Yongkang Li
Hanlin Kong
Chengyue Wang
Bonan Wang
Yanchen Guan
KaHou Tam

Trajectory prediction is a cornerstone in autonomous driving (AD), playing a critical role in enabling vehicles to navigate safely and efficiently in dynamic environments. To address this task, this paper presents a novel trajectory prediction model tailored for accuracy in the face of heterogeneous and uncertain traffic scenarios. At the heart of this model lies the Characterized Diffusion Module, an innovative module designed to simulate traffic scenarios with inherent uncertainty. This module enriches the predictive process by infusing it with detailed semantic information, thereby enhancing trajectory prediction accuracy. Complementing this, our Spatio-Temporal (ST) Interaction Module captures the nuanced effects of traffic scenarios on vehicle dynamics across both spatial and temporal dimensions with remarkable effectiveness. Demonstrated through exhaustive evaluations, our model sets a new standard in trajectory prediction, achieving state-of-the-art (SOTA) results on the Next Generation Simulation (NGSIM), Highway Drone (HighD), and Macao Connected Autonomous Driving (MoCAD) datasets across both short and extended temporal spans. This performance underscores the model's unparalleled adaptability and efficacy in navigating complex traffic scenarios, including highways, urban streets, and intersections.

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IJCAI Conference 2024 Conference Paper

MFTraj: Map-Free, Behavior-Driven Trajectory Prediction for Autonomous Driving

Haicheng Liao
Zhenning Li
Chengyue Wang
Huanming Shen
Dongping Liao
Bonan Wang
Guofa Li
Chengzhong Xu

This paper introduces a trajectory prediction model tailored for autonomous driving, focusing on capturing complex interactions in dynamic traffic scenarios without reliance on high-definition maps. The model, termed MFTraj, harnesses historical trajectory data combined with a novel dynamic geometric graph-based behavior-aware module. At its core, an adaptive structure-aware interactive graph convolutional network captures both positional and behavioral features of road users, preserving spatial-temporal intricacies. Enhanced by a linear attention mechanism, the model achieves computational efficiency and reduced parameter overhead. Evaluations on the Argoverse, NGSIM, HighD, and MoCAD datasets underscore MFTraj's robustness and adaptability, outperforming numerous benchmarks even in data-challenged scenarios without the need for additional information such as HD maps or vectorized maps. Importantly, it maintains competitive performance even in scenarios with substantial missing data (12. 5%-50%), outperforming most existing state-of-the-art models. The results and methodology suggest a significant advancement in autonomous driving trajectory prediction, paving the way for safer and efficient autonomous systems.

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IJCAI Conference 2024 Conference Paper

Physics-Informed Trajectory Prediction for Autonomous Driving under Missing Observation

Haicheng Liao
Chengyue Wang
Zhenning Li
Yongkang Li
Bonan Wang
Guofa Li
Chengzhong Xu

This paper introduces a novel trajectory prediction approach for autonomous vehicles (AVs), adeptly addressing the challenges of missing observations and the need for adherence to physical laws in real-world driving environments. This study proposes a hierarchical two-stage trajectory prediction model for AVs. In the first stage we propose the Wavelet Reconstruction Network, an innovative tool expertly crafted for reconstructing missing observations, offering optional integration with state-of-the-art models to enhance their robustness. Additionally, the second stage of the model features the Wave Fusion Encoder, a quantum mechanics-inspired innovation for sophisticated vehicle interaction modeling. By incorporating the Kinematic Bicycle Model, we ensure that our predictions align with realistic vehicular kinematics. Complementing our methodological advancements, we introduce MoCAD-missing, a comprehensive real-world traffic dataset, alongside enhanced versions of the NGSIM and HighD datasets, designed to facilitate rigorous testing in environments with missing observations. Extensive evaluations demonstrate that our approach markedly outperforms existing methods, achieving high accuracy even in scenarios with up to 75% missing observations.

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