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

Table 2

Experimental results of ablation.

Metric	Prediction horizon (s)	Without social pooling	Without attention interaction	Seq2seq (TCN)	Complete model
RMSE (m)	1	0.55	0.57	0.64	0.54
	2	1.18	1.17	1.56	1.15
	3	2.38	2.14	2.97	2.14
	4	2.94	2.89	4.28	2.87
	5	4.16	4.13	6.03	4.08

Bold values indicate the best result within each predicted horizon.