freeway trajectory datasets_consider change_lane_intention

Considering the influence of lane changing intention on vehicle trajectory, in order to verify whether considering lane changing intention in the trajectory prediction process can improve the prediction accuracy, the NGSIM dataset and HighD dataset are used for verification. (1) Firstly, the SG filter is used to reduce the noise of the trajectory data to eliminate the influence of the error on the trajectory. (2) And then recalculate the velocity and acceleration, heading angle, etc. after noise reduction. (3) Finally, the vehicle lane changing process is divided into lane changing process based on heading angle.