# Fine-grained highway autonomous vehicle lane-changing trajectory prediction based on a heuristic attention-aided encoder-decoder model

> Research article (Transportation Research Part C Emerging Technologies, 2022) · cited 43× · AI/ML

**Wikidata**: [openalex:W4229027947](https://www.wikidata.org/wiki/openalex:W4229027947)  
**Source**: https://4ort.xyz/entity/fine-grained-highway-autonomous-vehicle-lane-changing-trajectory-prediction-based-on-a-heuristic-attention-aided-encoder