Shihang Du Sanqing Qu Tianhang Wang Jian Mao Fan Lu 0001 Bo Zhang Guang Chen 0001 Changjun Jiang 0002 MHCPP: A Motion-Based Historical Enhancement Collaborative Perception and Prediction Framework. 19810-19820 2025 November 26 IEEE Trans. Intell. Transp. Syst. 11 https://doi.org/10.1109/TITS.2025.3608565 db/journals/tits/tits26.html#DuQWMLZCJ25 streams/journals/tits