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The purpose of this paper aims to model interaction relationship of traffic agents for motion prediction, which is critical for autonomous driving. It is obvious that traffic agents’ trajectories are influenced by physical lane rules and agents’ social interactions.

In this paper, the authors propose the social relation and physical lane aggregator for multimodal motion prediction, where the social relations of agents are mainly captured with graph convolutional networks and self-attention mechanism and then fused with the physical lane via the self-attention mechanism.

The proposed methods are evaluated on the Waymo Open Motion Dataset, and the results show the effectiveness of the proposed two feature aggregation modules for trajectory prediction.

This paper proposes a new design method to extract traffic interactions, and the attention mechanism is used in each part of the model to extract and fuse different relational features, which is different from other methods and improves the accuracy of the LSTM-based trajectory prediction method.

The relationship between government and market is the key to the economic development performance of market economy countries. Due to the limits such as the state/market dichotomy, the focus on static allocation efficiency and the ignorance of the diversity of the market economy and the relationship between government and market, economic liberalism and state interventionism can hardly position and explain the role and evolution of government and market in the real world accurately.

China’s economic transition has always adhered to the reform direction of the socialist market economy and the development goal of a modern socialist country as well as the symbiosis and positive and progressive evolution of government and market, blazing a “third way” in handling the relationship between government and market.

The “China’s experience” shows that the key for emerging market economies to achieve good economic development performance lies in whether they can build a new relationship of the mutual integration between and common prosperity of government and market regarding target selection, production organisation, technological innovation, institutional change and regulatory adjustment.

The second part of this paper analyses the inherent defects of economic liberalism and state interventionism as well as the reasons why they can hardly be adopted as the theoretical guidance for emerging market economies to handle the relationship between government and market. The third part analyses how China has transcended the inherent thinking of liberalism and interventionism and shaped the new relationship between government and market through goal-oriented, active and progressive, two-way interactive exploration and practice to ensure the success of China's economic transition.