Car following is critical for the overall safety, efficiency, and smooth operation of autonomous vehicles in traffic. However, existing car-following model primarily focuses on local feature extraction, overlooking the spatial–temporal relationships between vehicles and key information within the time series. This limitation negatively impacts prediction accuracy and generalization capabilities. To address these issues, a novel Spatio-Temporal Car-Following model based on Graph Convolution Network and Attention mechanism is proposed to enhance the safety, efficiency, and comfort of autonomous driving systems. Firstly, the spatial–temporal structure of the car-following model is constructed using the GCN network. This approach efficiently captures the topological relationships between vehicles. Secondly, we interleave spatial and temporal blocks to extract feature information from both spatial and temporal dimensions, which allows us to perceive spatial interactions and temporal motion patterns of the car. Additionally, a self-attention module assigns different attention weights to the various neighbors of a node in the car-following model, which can facilitate the capture of diverse aspects of node relationships and enhance expressive power. Finally, a Multi-Layer Perceptron (MLP) layer predicts the future behaviors of following vehicles. The proposed car-following model (CF) was trained and evaluated using five real-world datasets: HighD, SPMD, Waymo, NGSIM, and Lyft. The results indicate that our approach surpasses current models in terms of Mean Squared Error (MSE) for spacing, while also maintaining a zero collision rate across every dataset. These findings indicate that the Spatio-Temporal Attention Model (GSTAM-CF) proposed in this paper enhances safety, efficiency, and operational comfort compared to existing models.
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