Design Insights and Comparative Evaluation of a Hardware-Based Cooperative Perception Architecture for Lane Change Prediction

Traffic accidents remain a major global concern, with lane-change maneuvers recognized as one of the significant contributors to collision risk. Anticipating these maneuvers has become an important research focus, supporting both traffic safety and the safe integration of autonomous and assisted driving technologies. Over the past decade, numerous models have been developed for lane-change prediction. However, most existing works have been designed and validated using simulation environments or pre-recorded datasets. While these settings allow for benchmarking and controlled evaluation, they often rely on simplified assumptions about sensing, communication, and vehicle behavior that do not fully capture the complexity of real-world operation. Real-world deployments of lane-change prediction systems are relatively rare, and when they are reported, their practical challenges, limitations, and insights remain under-documented. To illustrate the setting more concretely, consider the left lane change scenario shown in Figure 1. The Ego Vehicle (EV) is driving in the left lane, while the Target Vehicle (TV) is moving in the right lane behind a Preceding Vehicle (PV). When the PV suddenly brakes, the TV must change lanes to avoid a collision.