@ARTICLE{cai2021vtgnet,
  author={Peide Cai and Yuxiang Sun and Hengli Wang and Ming Liu},
  journal={IEEE Transactions on Intelligent Vehicles}, 
  title={VTGNet: A Vision-Based Trajectory Generation Network for Autonomous Vehicles in Urban Environments}, 
  year={2021},
  volume={6},
  number={3},
  pages={419-429},
  doi={10.1109/TIV.2020.3033878}}