mlsanityData to 7 Oct 2026

Conformal Trajectory Prediction with Multi-View Data Integration in Cooperative Driving

arXiv 2408.00374 ↗First posted 1 Aug 2024cs.AI cs.CV cs.LGcited by 3

On the map: End-to-end autonomous driving → Cooperative and V2X driving

Abstract (arXiv)

Current research on trajectory prediction primarily relies on data collected by onboard sensors of an ego vehicle. With the rapid advancement in connected technologies, such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication, valuable information from alternate views becomes accessible via wireless networks. The integration of information from alternative views has the potential to overcome the inherent limitations associated with a single viewpoint, such as occlusions and limited field of view. In this work, we introduce V2INet, a novel trajectory prediction framework designed to model multi-view data by extending existing single-view models. Unlike previous approaches where the multi-view data is manually fused or formulated as a separate training stage, our model supports end-to-end training, enhancing both flexibility and performance. Moreover, the predicted multimodal trajectories are calibrated by a post-hoc conformal prediction module to get valid and efficient confidence regions. We evaluated the entire framework using the real-world V2I dataset V2X-Seq. Our results demonstrate superior performance in terms of Final Displacement Error (FDE) and Miss Rate (MR) using a single GPU. The code is publicly available at: https://github.com/xichennn/V2I_trajectory_prediction.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Placed in Cooperative and V2X driving, one of 9 directions in End-to-end autonomous driving. Builds on 38 of its 52 references that are in the map. First posted on arXiv 1 Aug 2024.

Builds on

38 of 52 references.

Closest ancestors · 1

Same direction, newest first

  1. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles4 May

Other references · 37

  1. 2016SGDR: Stochastic Gradient Descent with Warm Restartscited by 4,993
  2. 2015Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learningcited by 4,416
  3. 2019The Curious Case of Neural Text Degenerationcited by 2,881
  4. 2021A Gentle Introduction to Conformal Prediction and Distribution-Free Uncertainty Quantificationcited by 777
  5. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  6. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  7. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 417
  8. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380
  9. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  10. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  11. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  12. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
25 more
  1. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networkscited by 289
  2. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  3. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  4. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  5. 2019Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networkscited by 228
  6. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  7. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  8. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  9. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  10. 2019Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensorscited by 110
  11. 2019Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecastingcited by 87
  12. 2022Latency-Aware Collaborative Perceptioncited by 86
  13. 2020What-If Motion Prediction for Autonomous Drivingcited by 80
  14. 2023Uncertainty Quantification over Graph with Conformalized Graph Neural Networkscited by 79
  15. 2020Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approachcited by 47
  16. 2021Score refinement for confidence-based 3D multi-object trackingcited by 32
  17. 2019Analyzing the Variety Loss in the Context of Probabilistic Trajectory Predictioncited by 30
  18. 2022Copula Conformal Prediction for Multi-step Time Series Forecastingcited by 28
  19. 2023Learning Cooperative Trajectory Representations for Motion Forecastingcited by 21
  20. 2020PLOP: Probabilistic poLynomial Objects trajectory Planning for autonomous drivingcited by 19
  21. 2023Forking Uncertainties: Reliable Prediction and Model Predictive Control with Sequence Models via Conformal Risk Controlcited by 19
  22. 2022Collaborative Uncertainty Benefits Multi-Agent Multi-Modal Trajectory Forecastingcited by 13
  23. 2022Collaborative Perception for Autonomous Driving: Current Status and Future Trendcited by 10
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  25. 2020LRPD: Long Range 3D Pedestrian Detection Leveraging Specific Strengths of LiDAR and RGBcited by 7

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 2; 2026: 1.

3 papers.

  1. 2025Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everythingcited by 2
  2. 2025V2X-RECT: An Efficient V2X Trajectory Prediction Framework via Redundant Interaction Filtering and Tracking Error Correctioncited by 0
  3. 2026Uncertainty-Aware Vision-based Risk Object Identification via Conformal Risk Tube Predictioncited by 0

Similar, not cited

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  1. 2024V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Models
  2. 2026V2X-WAM: A Cooperative World Action Model for End-to-End Autonomous Driving
  3. 2024Unified End-to-End V2X Cooperative Autonomous Driving
  4. 2025V2V-GoT: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Models and Graph-of-Thoughts
  5. 2024End-to-End Autonomous Driving through V2X Cooperation
  6. 2026Localized Conformal Safety Monitoring with Vision-Language Models for Autonomous Driving
  7. 2026OmniV2X: A Generative Foundation Planner for Efficient End-to-End Cooperative Driving
  8. 2026V2VCrafter: Consistent Street-View Image Generation Across Vehicles