Framework for motion prediction of vehicles in a simulation environment

Efficient testing and validation of software components for highly automate vehicles is one of the key challenges to be solved for their massive deployment. The number of driving situation and environment variables makes validation almost intractable with real vehicles in open roads, and the testing reproducibility can only be achieved via simulation. This manuscript presents a framework and preliminary results for motion prediction of vehicles in a simulation environment that is being currently developed by the AUTOPIA Program.This work has been partially funded by the Spanish Ministry of Science, Innovation and Universities with National Project COGDRIVE (DPI2017-86915-C3-1-R), the Community of Madrid through SEGVAUTO 4.0-CM (S2018- EMT-4362) Programme, and by the EuropeanCommission through the Projects PRYSTINE (ECSEL-783190-2) and SECREDAS (ECSEL783119-2).Peer reviewe