Table 2 The results of ablation experiments.

From: Multi-modality trajectory prediction with the dynamic spatial interaction among vehicles under connected vehicle environment

Evaluation index

Prediction time

Only input (x,y)

Without

Without

Without

STA-LSTM

S-At

T-At

Maneuver

NLL

1s

0.56

0.52

0.53

0.85

0.49

2s

2.1

2.09

2.12

2.37

2.06

3s

3.11

2.99

3.04

3.28

2.92

4s

3.59

3.61

3.65

3.89

3.54

5s

4.16

4.22

4.29

4.49

4.11

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