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Paper Abstract and Keywords
Presentation 2026-09-09 15:10
Vehicle Trajectory Prediction at Signalized Intersections Considering Inter-Vehicle Distance
Kanta Nagao, Shunya Yamada, Yousuke Watanabe, Hiroaki Takada (Nagoya Univ.) ITS2026-8
Abstract (in Japanese) (See Japanese page) 
(in English) For autonomous vehicles, minimizing prediction errors regarding the trajectories of surrounding vehicles is crucial for both safety and efficiency. However, since the range that an autonomous vehicle can detect by on-board sensors is limited, utilizing shared information obtained through communication with roadside units and other devices can help reduce these errors. In our previous work, we focused on traffic signal information as such shared data and proposed a trajectory prediction model that utilizes it. In this study, we focus on the inter-vehicle(following) distance between the target vehicle and the leading vehicle, and extend our prior model to take the inter-vehicle distance into account. We evaluate the impact of inter-vehicle distance information on prediction error. The results showed that the prediction errors were reduced by about 20% when two or more leading vehicles existed under green-light conditions; in other situations, the prediction accuracy of the proposed model was almost same as the prior one.
Keyword (in Japanese) (See Japanese page) 
(in English) Trajectory Prediction / Machine Learning / Simulation / Following Distance / / / /  
Reference Info. IEICE Tech. Rep., vol. 126, no. 171, ITS2026-8, pp. 7-12, Sept. 2026.
Paper # ITS2026-8 
Date of Issue 2026-09-02 (ITS) 
ISSN Online edition: ISSN 2432-6380
Copyright
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reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF ITS2026-8

Conference Information
Committee ITS IPSJ-ITS IEE-ITS  
Conference Date 2026-09-09 - 2026-09-10 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To ITS 
Conference Code 2026-09-ITS-ITS-ITS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Vehicle Trajectory Prediction at Signalized Intersections Considering Inter-Vehicle Distance 
Sub Title (in English)  
Keyword(1) Trajectory Prediction  
Keyword(2) Machine Learning  
Keyword(3) Simulation  
Keyword(4) Following Distance  
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Keyword(6)  
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Keyword(8)  
1st Author's Name Kanta Nagao  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Shunya Yamada  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Yousuke Watanabe  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
4th Author's Name Hiroaki Takada  
4th Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2026-09-09 15:10:00 
Presentation Time 25 minutes 
Registration for ITS 
Paper # ITS2026-8 
Volume (vol) vol.126 
Number (no) no.171 
Page pp.7-12 
#Pages 6 
Date of Issue 2026-09-02 (ITS) 

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