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Joint driver intention classification and tracking of vehicles

Joakim Gunnarsson (Institutionen för signaler och system, Signalbehandling) ; Lennart Svensson (Institutionen för signaler och system, Signalbehandling) ; Fredrik Bengtsson (Institutionen för signaler och system) ; Lars Danielsson (Institutionen för signaler och system, Signalbehandling)
Proc. Nonlinear Statistical Signal Processing Workshop, NSSPW (2006)
[Konferensbidrag, refereegranskat]

In this paper we present and validate a new modelling framework for joint driver intention classification and tracking of vehicles; a framework derived for automotive active safety systems. Such systems require reliable predictions of the traffic situation to act in time when a dangerous situation occur. Our proposal has two main benefits. First, it incorporates the intention of the driver into the vehicle motion model and thereby improves the prediction capability. The result is a multiple motion model where each model corresponds to a specific driver intent. Second, the connection between different driver plans and corresponding motion model enables a formal classification of the most likely driver intention. To validate our concept, we apply the motion model on real data using a particle filter implementation. Initial studies indicate promising performance.



Denna post skapades 2010-05-12. Senast ändrad 2014-11-27.
CPL Pubid: 121534