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杨超（重庆交通大学 机电与车辆工程学院，重庆 400074）主题词：自动驾驶行为预测车辆轨迹预测行人轨迹预测复杂交通场景缩略语MPC Model Predictive ControlPOMDP Partially Observable Markov Decision ProcessesLSTM Long-Short Term MemoryRNN Recurrent Neural NetworkSeq2Seq Sequence to SequenceMDN Mixture Density NetworksDNN Deep Neural NetworksCNN Convolutional Neural NetworksGNN Graph Neural NetworksCGNS Conditional Generative Neural SystemGRU Gate Recurrent UnitGCN Graph Convolutional NetworksSGCN Sparse Graph Convolution NetworkNMMP Neural Motion Message Pass……