Code availability

The algorithms and codes supporting the findings of this study are available in the main text, Extended Data and GitHub (https://github. com/ytchen17/ACCEL).

Data availability

The data supporting the findings of this study are available in the main text, Extended Data, Supplementary Information, source data and Zenodo (https://doi.org/10.5281/zenodo.8174034). Source data are provided with this paper.

Dataset availability for video judgement in traffic scenes

The full version of our video dataset with five categories for moving- direction prediction in traffic scenes can be accessed at GitHub (https:// github.com/ytchen17/ACCEL/tree/v1.0.1/video%20judgment%20 dataset). It is composed of 10,000 different sequences with 8,000 for training and 2,000 for testing. The types, initial positions, moving speeds and sizes of the vehicles are all set randomly in the dataset for generalization.