TCN-SA: A Social Attention Network Based on Temporal Convolutional Network for Vehicle Trajectory Prediction

Table 1

Experimental results of different models.

Metric	Prediction horizon (s)	CV	C-VGMM + VIM	GAIL-GRU	CS-LSTM	NLS-LSTM	S-GAN	TCN-SA
RMSE (m)	1	0.73	0.66	0.69	0.61	0.56	0.57	0.54
	2	1.78	1.56	1.51	1.27	1.22	1.32	1.15
	3	3.13	2.75	2.55	2.09	2.02	2.22	2.14
	4	4.78	4.24	3.65	3.10	3.03	3.26	2.87
	5	6.68	5.99	4.71	4.37	4.30	4.40	4.08