# Interaction-Aware Trajectory Prediction of Connected Vehicles using CNN-LSTM Networks

arXiv: https://arxiv.org/abs/2005.12134 · HTML: https://mlsanity.com/paper/2005.12134/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 May 2020.

## Built on by (most cited first, 14 of 14)

- [Driving Behavior Modeling using Naturalistic Human Driving Data with Inverse Reinforcement Learning](https://mlsanity.com/paper/2010.03118/) (2020)
- [DeepTrack: Lightweight Deep Learning for Vehicle Path Prediction in Highways](https://mlsanity.com/paper/2108.00505/) (2021)
- [Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directions](https://mlsanity.com/paper/2503.03262/) (2025)
- [Holistic Transformer: A Joint Neural Network for Trajectory Prediction and Decision-Making of Autonomous Vehicles](https://mlsanity.com/paper/2206.08809/) (2022)
- [STrajNet: Multi-modal Hierarchical Transformer for Occupancy Flow Field Prediction in Autonomous Driving](https://mlsanity.com/paper/2208.00394/) (2022)
- [Occupancy Prediction-Guided Neural Planner for Autonomous Driving](https://mlsanity.com/paper/2305.03303/) (2023)
- [Neuroevolutionary Multi-objective approaches to Trajectory Prediction in Autonomous Vehicles](https://mlsanity.com/paper/2205.02105/) (2022)
- [Hierarchical End-to-End Autonomous Driving: Integrating BEV Perception with Deep Reinforcement Learning](https://mlsanity.com/paper/2409.17659/) (2024)
- [Cross-Domain Transfer Learning using Attention Latent Features for Multi-Agent Trajectory Prediction](https://mlsanity.com/paper/2411.06087/) (2024)
- [How Does Traffic Environment Quantitatively Affect the Autonomous Driving Prediction?](https://mlsanity.com/paper/2301.04414/) (2023)
- [FollowGen: A Scaled Noise Conditional Diffusion Model for Car-Following Trajectory Prediction](https://mlsanity.com/paper/2411.16747/) (2024)
- [Crossfusor: A Cross-Attention Transformer Enhanced Conditional Diffusion Model for Car-Following Trajectory Prediction](https://mlsanity.com/paper/2406.11941/) (2024)
- [MSMA: Multi-agent Trajectory Prediction in Connected and Autonomous Vehicle Environment with Multi-source Data Integration](https://mlsanity.com/paper/2407.21310/) (2024)
- [Exploitation of Hidden Context in Dynamic Movement Forecasting: A Neural Network Journey from Recurrent to Graph Neural Networks and General Purpose Transformers](https://mlsanity.com/paper/2605.14855/) (2026)

## Abstract (arXiv)

Predicting the future trajectory of a surrounding vehicle in congested traffic is one of the basic abilities of an autonomous vehicle. In congestion, a vehicle's future movement is the result of its interaction with surrounding vehicles. A vehicle in congestion may have many neighbors in a relatively short distance, while only a small part of neighbors affect its future trajectory mostly. In this work, An interaction-aware method which predicts the future trajectory of an ego vehicle considering its interaction with eight surrounding vehicles is proposed. The dynamics of vehicles are encoded by LSTMs with shared weights, and the interaction is extracted with a simple CNN. The proposed model is trained and tested on trajectories extracted from the publicly accessible NGSIM US-101 dataset. Quantitative experimental results show that the proposed model outperforms previous models in terms of root-mean-square error (RMSE). Results visualization shows that the model is able to predict future trajectory induced by lane change before the vehicle operate obvious lateral movement to initiate lane changing.