In the last few years the concept of autonomous vehicle has developed significantly and has become one of the major topics of the automotive field. Among all the functions that a self - driving vehicle must have, the ability to correctly interpret the sensors information and exploit them for trajectory prediction is fundamental. This thesis work collocates itself exactly in this framework, and it is developed around two main topics. First of all, a research on motion models is conducted in order to establish which one can better describe the analysed scenario. Then, the chosen model, called CTRA model, is simulated with real sensor data with the purpose of obtaining a trajectory of the same shape of the authentic one.