{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,6]],"date-time":"2026-08-06T02:48:33Z","timestamp":1785984513035,"version":"3.56.0"},"reference-count":36,"publisher":"Elsevier BV","issue":"13","license":[{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Journal of the Franklin Institute"],"published-print":{"date-parts":[[2026,8]]},"DOI":"10.1016\/j.jfranklin.2026.108839","type":"journal-article","created":{"date-parts":[[2026,6,27]],"date-time":"2026-06-27T15:39:17Z","timestamp":1782574757000},"page":"108839","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"title":["A dual-layer network architecture for long-term trajectory prediction in unstructured scenarios"],"prefix":"10.1016","volume":"363","author":[{"given":"Fudi","family":"Ma","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-7479-8807","authenticated-orcid":false,"given":"Bikang","family":"Hua","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4083-8863","authenticated-orcid":false,"given":"Runqi","family":"Chai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5977-4911","authenticated-orcid":false,"given":"Yuanqing","family":"Xia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1910-1795","authenticated-orcid":false,"given":"Senchun","family":"Chai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"6","key":"10.1016\/j.jfranklin.2026.108839_bib0001","doi-asserted-by":"crossref","DOI":"10.3390\/math9060660","article-title":"A review of tracking and trajectory prediction methods for autonomous driving","volume":"9","author":"Leon","year":"2021","journal-title":"Mathematics"},{"issue":"10","key":"10.1016\/j.jfranklin.2026.108839_bib0002","doi-asserted-by":"crossref","first-page":"10572","DOI":"10.1109\/TITS.2023.3277015","article-title":"A bargaining game-based human\u2013machine shared driving control authority allocation strategy","volume":"24","author":"Dai","year":"2023","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108839_bib0003","doi-asserted-by":"crossref","first-page":"658","DOI":"10.1109\/TITS.2010.2048314","article-title":"Model-based threat assessment for avoiding arbitrary vehicle collisions","volume":"11","author":"Br\u00e4nnstr\u00f6m","year":"2010","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108839_bib0004","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1109\/LRA.2020.3032079","article-title":"Interaction-aware motion prediction for autonomous driving: a multiple model Kalman filtering scheme","volume":"6","author":"Lefkopoulos","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0005","series-title":"2012 IEEE Intelligent Vehicles Symposium","first-page":"1162","article-title":"Driver intent inference at urban intersections using the intelligent driver model","author":"Liebner","year":"2012"},{"issue":"17","key":"10.1016\/j.jfranklin.2026.108839_bib0006","doi-asserted-by":"crossref","first-page":"8969","DOI":"10.1016\/j.jfranklin.2021.09.012","article-title":"Trajectory tracking of an autonomous vehicle using immersion and invariance control","volume":"358","author":"Satouri","year":"2021","journal-title":"J. Frankl. Inst."},{"issue":"16","key":"10.1016\/j.jfranklin.2026.108839_bib0007","doi-asserted-by":"crossref","first-page":"11331","DOI":"10.1016\/j.jfranklin.2023.08.043","article-title":"Trajectory tracking control of unmanned marine vehicles with thruster faults based on broad learning system","volume":"360","author":"Liu","year":"2023","journal-title":"J. Frankl. Inst."},{"issue":"17","key":"10.1016\/j.jfranklin.2026.108839_bib0008","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.107222","article-title":"Finite-time trajectory tracking control for unmanned ground vehicle based on finite-time disturbance observer","volume":"361","author":"Hu","year":"2024","journal-title":"J. Frankl. Inst."},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108839_bib0009","doi-asserted-by":"crossref","first-page":"2184","DOI":"10.1109\/TII.2024.3495763","article-title":"Secure observer-based collision-free control for autonomous vehicles under non-Gaussian noises","volume":"21","author":"Zhu","year":"2025","journal-title":"IEEE Trans. Ind. Inform."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0010","doi-asserted-by":"crossref","first-page":"2856","DOI":"10.1049\/itr2.12589","article-title":"Trajectory tracking control of autonomous vehicles based on event-triggered model predictive control","volume":"18","author":"Zhang","year":"2024","journal-title":"IET Intell. Transp. Syst."},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108839_bib0011","doi-asserted-by":"crossref","DOI":"10.3390\/wevj16030163","article-title":"Coordinated control strategy for stability control and trajectory tracking with wheel-driven autonomous vehicles under harsh situations","volume":"16","author":"Liu","year":"2025","journal-title":"World Electr. Veh. J."},{"issue":"11","key":"10.1016\/j.jfranklin.2026.108839_bib0012","doi-asserted-by":"crossref","first-page":"11623","DOI":"10.1109\/TITS.2023.3285442","article-title":"Deep multi-agent reinforcement learning for highway on-ramp merging in mixed traffic","volume":"24","author":"Chen","year":"2023","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0013","series-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"11621","article-title":"NuScenes: a multimodal dataset for autonomous driving","author":"Caesar","year":"2020"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0014","series-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"2446","article-title":"Scalability in perception for autonomous driving: waymo open dataset","author":"Sun","year":"2020"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0015","article-title":"Interaction-aware and driving style-aware trajectory prediction for heterogeneous vehicles in mixed traffic environment","author":"Zhang","year":"2025","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"8","key":"10.1016\/j.jfranklin.2026.108839_bib0016","doi-asserted-by":"crossref","first-page":"11857","DOI":"10.1109\/TVT.2025.3557184","article-title":"Joint prediction of intention and trajectory in automated driving using interactive dynamic Bayesian network","volume":"74","author":"Hao","year":"2025","journal-title":"IEEE Trans. Veh. Technol."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0017","doi-asserted-by":"crossref","DOI":"10.1016\/j.eswa.2025.128222","article-title":"Customizable multimodal trajectory prediction via nodes of interest selection for autonomous vehicles","volume":"288","author":"Jiang","year":"2025","journal-title":"Expert Syst. Appl."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0018","series-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"10400","article-title":"TrafficSim: learning to simulate realistic multi-agent behaviors","author":"Suo","year":"2021"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0019","series-title":"RSJ International Conference on Intelligent Robots and Systems (IROS)","first-page":"6299","article-title":"Reactive and safe road user simulations using neural barrier certificates. In 2021\u202fIEEE","author":"Meng","year":"2021"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0020","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1007\/s10846-009-9383-1","article-title":"A survey of motion planning algorithms from the perspective of autonomous UAV guidance","volume":"57","author":"Goerzen","year":"2010","journal-title":"J. Intell. Robot. Syst."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0021","series-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"9644","article-title":"MotionDiffuser: controllable multi-agent motion prediction using diffusion","author":"Jiang","year":"2023"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0022","series-title":"2019 International Conference on Robotics and Automation (ICRA)","first-page":"789","article-title":"Simulating emergent properties of human driving behavior using multi-agent reward augmented imitation learning","author":"Bhattacharyya","year":"2019"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0023","series-title":"International Conference on Formal Modeling and Analysis of Timed Systems","first-page":"92","article-title":"Robust satisfaction of temporal logic over real-valued signals","author":"Donz\u00e9","year":"2010"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0024","doi-asserted-by":"crossref","unstructured":"Z. Zhong, D. Rempe, D. Xu, Y. Chen, S. Veer, T. Che, B. Ray, M. Pavone, Guided conditional diffusion for controllable traffic simulation, (2022), arXiv: 2210.17366.","DOI":"10.1109\/ICRA48891.2023.10161463"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0025","doi-asserted-by":"crossref","DOI":"10.1016\/j.trc.2025.105339","article-title":"RuleNet: rule-priority-aware multi-agent trajectory prediction in ambiguous traffic scenarios","volume":"180","author":"Shi","year":"2025","journal-title":"Transp. Res. C: Emerg. Technol."},{"issue":"9","key":"10.1016\/j.jfranklin.2026.108839_bib0026","doi-asserted-by":"crossref","first-page":"9240","DOI":"10.1109\/LRA.2025.3588389","article-title":"STLCG++: a masking approach for differentiable signal temporal logic specification","volume":"10","author":"Kapoor","year":"2025","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"6","key":"10.1016\/j.jfranklin.2026.108839_bib0027","doi-asserted-by":"crossref","first-page":"5935","DOI":"10.1109\/LRA.2025.3563119","article-title":"Resilient online planning for mobile robots with minimal relaxation of signal temporal logic specifications","volume":"10","author":"Buyukkocak","year":"2025","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0028","doi-asserted-by":"crossref","DOI":"10.1016\/j.trc.2025.105339","article-title":"RuleNet: rule-priority-aware multi-agent trajectory prediction in ambiguous traffic scenarios","volume":"180","author":"Shi","year":"2025","journal-title":"Transp. Res. C Emerg. Technol."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0029","unstructured":"R. Liu, A. Hou, X. Yu, X. Yin, Zero-Shot Trajectory Planning for Signal Temporal Logic Tasks, (2025), arXiv: 2501.13457."},{"issue":"8","key":"10.1016\/j.jfranklin.2026.108839_bib0030","doi-asserted-by":"crossref","first-page":"9192","DOI":"10.1109\/TITS.2024.3358380","article-title":"A lightweight optimal trajectory planning for smart summon in highly complex and irregular parking lot scenarios","volume":"25","author":"Hua","year":"2024","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"9","key":"10.1016\/j.jfranklin.2026.108839_bib0031","doi-asserted-by":"crossref","first-page":"5078","DOI":"10.1109\/TCYB.2024.3366974","article-title":"A two phases multiobjective trajectory optimization scheme for multi-UGVs in the sight of the first aid scenario","volume":"54","author":"Chai","year":"2024","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0032","series-title":"2018 IEEE Intelligent Vehicles Symposium (IV)","first-page":"1179","article-title":"Multi-modal trajectory prediction of surrounding vehicles with maneuver based LSTMs","author":"Deo","year":"2018"},{"key":"10.1016\/j.jfranklin.2026.108839_bib0033","series-title":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","first-page":"746","article-title":"EquiDiff: a conditional equivariant diffusion model for trajectory prediction","author":"Chen","year":"2023"},{"issue":"7","key":"10.1016\/j.jfranklin.2026.108839_bib0034","doi-asserted-by":"crossref","first-page":"8370","DOI":"10.1007\/s10489-022-03961-y","article-title":"Vehicle trajectory prediction on highways using bird eye view representations and deep learning","volume":"53","author":"Izquierdo","year":"2023","journal-title":"Appl. Intell."},{"issue":"10\u201311","key":"10.1016\/j.jfranklin.2026.108839_bib0035","first-page":"4992","article-title":"Vehicle trajectory prediction based on cross-attention and multilevel spatio-temporal features","volume":"239","author":"Sang","year":"2025","journal-title":"Proc. Inst. Mech. Eng. D: J. Automob. Eng."},{"key":"10.1016\/j.jfranklin.2026.108839_bib0036","article-title":"MTF-GRU: a mixed teacher forcing gate recurrent unit for highway vehicle trajectory prediction","author":"Fang","year":"2025","journal-title":"Proc. Inst. Mech. Eng. D: J. Automob. Eng."}],"container-title":["Journal of the Franklin Institute"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226004382?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226004382?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,8,6]],"date-time":"2026-08-06T02:21:32Z","timestamp":1785982892000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0016003226004382"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,8]]},"references-count":36,"journal-issue":{"issue":"13","published-print":{"date-parts":[[2026,8]]}},"alternative-id":["S0016003226004382"],"URL":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108839","relation":{},"ISSN":["0016-0032"],"issn-type":[{"value":"0016-0032","type":"print"}],"subject":[],"published":{"date-parts":[[2026,8]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"A dual-layer network architecture for long-term trajectory prediction in unstructured scenarios","name":"articletitle","label":"Article Title"},{"value":"Journal of the Franklin Institute","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108839","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Published by Elsevier Inc. on behalf of The Franklin Institute.","name":"copyright","label":"Copyright"}],"article-number":"108839"}}