Utilizing infrastructure and vehicle-side information to track and forecast the behaviors of surrounding traffic participants can significantly improve decision-making and safety in autonomous driving. However, the lack of real-world sequential datasets limits research in this area. To address this issue, we introduce V2X-Seq, the first large-scale sequential V2X dataset, which includes data frames, trajectories, vector maps, and traffic lights captured from natural scenery. V2X-Seq comprises two parts: the sequential perception dataset, which includes more than 15,000 frames captured from 95 scenarios, and the trajectory forecasting dataset, which contains about 80,000 infrastructure-view scenarios, 80,000 vehicle-view scenarios, and 50,000 cooperative-view scenarios captured from 28 intersections' areas, covering 672 hours of data. Based on V2X-Seq, we introduce three new tasks for vehicle-infrastructure cooperative (VIC) autonomous driving: VIC3D Tracking, Online-VIC Forecasting, and Offline-VIC Forecasting. We also provide benchmarks for the introduced tasks. Find data, code, and more up-to-date information at \href{https://github.com/AIR-THU/DAIR-V2X-Seq}{https://github.com/AIR-THU/DAIR-V2X-Seq}.

Since semantic trajectories can discover more semantic meanings of a user’s interests without geographic restrictions, research on semantic trajectories has attracted a lot of attentions in recent years. Most existing work discover the similar behavior of moving objects through analysis of their semantic trajectory pattern, that is, sequences of locations. However, this kind of trajectories without considering the duration of staying on a location limits wild applications. For example, Tom and Anne have a common pattern of Home Restaurant Company Restaurant , but they are not similar, since Tom works at Restaurant , sends snack to someone at Company and return to Restaurant while Anne has breakfast at Restaurant , works at Company and has lunch at Restaurant . If we consider duration of staying on each location we can easily to differentiate their behaviors. In this paper, we propose a novel approach for discovering common behaviors by considering the duration of staying on each location of trajectories (DoSTra). Our approach can be used to detect the group that has similar lifestyle, habit or behavior patterns and predict the future locations of moving objects. We evaluate the experiment based on synthetic dataset, which demonstrates the high effectiveness and efficiency of the proposed method.