ViTraj: Learning Dual-Side Representations for Vehicle-Infrastructure Cooperative Trajectory Prediction

While autonomous driving has made substantial progress, accurately predicting the trajectories of surrounding traffic agents remains a fundamental challenge for ensuring safety. Integrating both infrastructure-side and vehicle-side information has the potential to enhance perception and prediction capabilities. However, existing methods overlook the challenges in Vehicle-Infrastructure Cooperative Trajectory Prediction. To bridge this gap, we propose ViTraj, a model-agnostic framework for VIC-TP that leverages infrastructure-side trajectories to mitigate the inherent limitations of vehicle-side forecasting. ViTraj introduces a Feature-Side Selection and a Cooperative Interaction to aggregate complementary features from both sides, effectively expanding the perceptual horizon of prediction models. In addition, we present a Vehicle-Infrastructure Knowledge Distillation strategy to enforce consistency between multi-side predictions, which efficient global-local feature alignment through a single backward pass. Extensive experiments on large-scale public datasets demonstrate that ViTraj consistently improves advanced trajectory prediction models, achieving the state-of-the-art performance compared to existing vehicle-infrastructure cooperative methods. We believe this work provides a promising step toward the practical deployment of V2X-based autonomous driving systems.