Ego vehicle trajectory prediction based on driver-vehicle coupling characteristics in diverse urban scenarios

This software package supports the reproduction of key numerical results reported in the research study, including the modeling of driver-vehicle coupling characteristics in diverse urban scenarios, the proposed ego vehicle trajectory prediction algorithm framework, validation of ego vehicle trajectory prediction outputs, and comprehensive generalization tests.   The package includes MATLAB scripts for data processing, ego vehicle trajectory prediction model training, prediction result visualization and performance evaluation, and model generalization validation. It also contains pre-processed model data, training and testing datasets, and trained model parameter files.   Test scenarios cover typical urban driving conditions: left lane changing, right lane changing, roundabout navigation, left turning, right turning, and straight driving. Detailed instructions for reproducing the main results are provided in the README file.