Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs
to know the current state of the surrounding objects but also their possible states in the
future. As for vehicles, their trajectories are significantly influenced by the lane geometry and
how to effectively use the lane information is of active interest. Most of the existing works use
rasterized maps to explore road information, which does not distinguish different lanes. In
this paper, we propose a novel instance-aware representation for lane representation. By …