Cooperative Trajectory Prediction Using IVC and Accuracy-Aware Attention with Inaccurate GPS Data

摘要: As autonomous driving vehicles have emerged, Under-Resourced Automated Vehicle (URAV) and Connected Automated Vehicle (CAV) could coexist in similar regions. For safe driving in the coexistence scenario, URAV and CAV should accurately predict future trajectories of surrounding vehicles (ie, neighbors). To predict the trajectories by URAV, two primitives are required: 1) positioning via low-price devices (eg, GPS) and 2) Inter-Vehicle Communication (IVC). However, using only these primitives could induce inaccurate trajectory prediction because of inaccurate GPS data and failure in packet transmission via IVC. To address the limitations of URAV, in this paper, we propose a novel scheme for trajectory prediction whereby URAV cooperates with CAV by exploiting the powerful resources of CAV via IVC. For improving the accuracy of cooperative trajectory prediction, our scheme employs three modules: 1 …