Vehicle trajectory prediction near or at traffic signal

A method for determining a predicted trajectory of a human-driven host vehicle as the human-driven host vehicle approaches a traffic signal, wherein the method is carried out by one or more electronic controllers, and wherein the method comprises the steps of:

• obtaining a host vehicle-traffic light distance dx and a longitudinal host vehicle speed vx that are each taken when the human-driven host vehicle approaches the traffic signal, wherein the host vehicle-traffic light distance dx and the longitudinal host vehicle speed vx each have an associated time;
• obtaining a front vehicle state XFV, wherein the front vehicle state includes a front-host vehicle distance rt and a front-host vehicle speed {dot over (r)}t;
• receiving one or more wireless signals that indicate a traffic light signal phase Pt and a traffic light signal timing Tt, wherein the traffic light signal phase Pt represents a phase of the traffic signal taken when the human-driven host vehicle approaches the traffic signal, and wherein the traffic light signal timing Tt represents an amount of time elapsed since a last phase change of the traffic signal taken when the human-driven host vehicle approaches the traffic signal, wherein the traffic light signal phase Pt and the traffic light signal timing Tt each have an associated time, wherein the associated times of the host vehicle-traffic light distance dx, the longitudinal host vehicle speed vx, the traffic light signal phase Pt, the traffic light signal timing Tt, the front vehicle state includes a front-host vehicle distance rt, and the front-host vehicle speed {dot over (r)}t are within a maximum allowable time difference with respect to one another;
• obtaining a time of day TOD;
• providing the host vehicle-traffic light distance dx, the longitudinal host vehicle speed vx, the traffic light signal phase Pt, the traffic light signal timing Tt, the front vehicle state XFV, and the time of day TOD as input into an artificial intelligence (AI) vehicle trajectory prediction application, wherein the AI vehicle trajectory prediction application implements an AI vehicle trajectory prediction model, and wherein the AI vehicle trajectory prediction model is or includes a neural network;
• and
• determining the predicted trajectory of the human-driven host vehicle using the AI vehicle trajectory prediction application.