FollowGen: A scaled noise conditional diffusion model for car-following trajectory prediction

This article presents FollowGen, a conditional diffusion model for vehicle trajectory prediction in car-following scenarios. Unlike existing diffusion-based approaches that introduce conditions only during the denoising stage, FollowGen incorporates a scaled noise conditioning mechanism in the forward process to embed historical motion features, and employs a cross-attention transformer in the reverse process to explicitly model interactions between leading and following vehicles. Experiments demonstrate that FollowGen consistently outperforms state-of-the-art baselines, achieving higher accuracy and robustness in diverse car-following environments.