@article{cai2020vtgnet, title = {{VTGNet}: A vision-based trajectory generation network for autonomous vehicles in urban environments}, author = {Cai, Peide and Sun, Yuxiang and Wang, Hengli and Liu, Ming}, journal = {IEEE Transactions on Intelligent Vehicles}, volume = {6}, number = {3}, pages = {419--429}, year = {2021}, publisher = {IEEE}, doi = {10.1109/TIV.2020.3033878} }