Impact of Traffic Lights on Trajectory Forecasting of Human-driven Vehicles Near Signalized Intersections

Understand

Forecasting trajectories of human-driven vehicles is a crucial problem in autonomous driving.

• Trajectory forecasting in the urban area is particularly hard due to complex interactions with cars and pedestrians, and traffic lights (TLs).
• Unlike the former that has been widely studied, the impact of TLs on the trajectory prediction has been rarely discussed.
• In this work, we first identify the less studied, perhaps overlooked impact of TLs.