Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory Prediction

Innovative technologies and naturalistic driving data sources provide a great potential to develop reliable autonomous driving systems. Understanding the behaviors of surrounding vehicles is essential for improving safety and mobility of autonomous vehicles. Onboard sensors like Radar, Lidar and Cam...

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Main Authors: Abdelmoudjib Benterki, Moussa Boukhnifer, Vincent Judalet, Choubeila Maaoui
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/9043491/
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author Abdelmoudjib Benterki
Moussa Boukhnifer
Vincent Judalet
Choubeila Maaoui
author_facet Abdelmoudjib Benterki
Moussa Boukhnifer
Vincent Judalet
Choubeila Maaoui
author_sort Abdelmoudjib Benterki
collection DOAJ
description Innovative technologies and naturalistic driving data sources provide a great potential to develop reliable autonomous driving systems. Understanding the behaviors of surrounding vehicles is essential for improving safety and mobility of autonomous vehicles. Onboard sensors like Radar, Lidar and Camera are able to track surrounding vehicles motion and to get different features like position, velocity and yaw. This paper proposes a hybrid approach to integrate maneuver classification using neural networks and trajectory prediction using Long Short-term Memory (LSTM) networks to get the future positions of adjacent vehicles. In this study we use the Next Generation Simulation (NGSIM) public dataset that provides a real driving data. The proposed approach is validated experimentally using VEDECOM demonstrator data. The results demonstrate that the proposed approach is able to predict driver intention to change lanes on average 2.2 seconds in advance. The Root Mean Square (RMS) errors of lateral and longitudinal positions are 0.30 m and 3.1 m respectively. The results demonstrate a high performance compared to various existing methods.
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spelling doaj.art-34fe2daec43a45dabbd4306eeb9d5d772022-12-21T23:20:56ZengIEEEIEEE Access2169-35362020-01-018569925700210.1109/ACCESS.2020.29821709043491Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory PredictionAbdelmoudjib Benterki0https://orcid.org/0000-0002-8182-8592Moussa Boukhnifer1https://orcid.org/0000-0002-1729-5453Vincent Judalet2Choubeila Maaoui3Department of Autonomous and Connected Vehicles, Institut VEDECOM, Versailles, FranceUniversité de Lorraine, LCOMS, Metz, FranceDepartment of Autonomous and Connected Vehicles, Institut VEDECOM, Versailles, FranceUniversité de Lorraine, LCOMS, Metz, FranceInnovative technologies and naturalistic driving data sources provide a great potential to develop reliable autonomous driving systems. Understanding the behaviors of surrounding vehicles is essential for improving safety and mobility of autonomous vehicles. Onboard sensors like Radar, Lidar and Camera are able to track surrounding vehicles motion and to get different features like position, velocity and yaw. This paper proposes a hybrid approach to integrate maneuver classification using neural networks and trajectory prediction using Long Short-term Memory (LSTM) networks to get the future positions of adjacent vehicles. In this study we use the Next Generation Simulation (NGSIM) public dataset that provides a real driving data. The proposed approach is validated experimentally using VEDECOM demonstrator data. The results demonstrate that the proposed approach is able to predict driver intention to change lanes on average 2.2 seconds in advance. The Root Mean Square (RMS) errors of lateral and longitudinal positions are 0.30 m and 3.1 m respectively. The results demonstrate a high performance compared to various existing methods.https://ieeexplore.ieee.org/document/9043491/Artificial intelligenceautonomous vehicleintention predictionLSTMmaneuver classificationneural networks
spellingShingle Abdelmoudjib Benterki
Moussa Boukhnifer
Vincent Judalet
Choubeila Maaoui
Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory Prediction
IEEE Access
Artificial intelligence
autonomous vehicle
intention prediction
LSTM
maneuver classification
neural networks
title Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory Prediction
title_full Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory Prediction
title_fullStr Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory Prediction
title_full_unstemmed Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory Prediction
title_short Artificial Intelligence for Vehicle Behavior Anticipation: Hybrid Approach Based on Maneuver Classification and Trajectory Prediction
title_sort artificial intelligence for vehicle behavior anticipation hybrid approach based on maneuver classification and trajectory prediction
topic Artificial intelligence
autonomous vehicle
intention prediction
LSTM
maneuver classification
neural networks
url https://ieeexplore.ieee.org/document/9043491/
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AT vincentjudalet artificialintelligenceforvehiclebehavioranticipationhybridapproachbasedonmaneuverclassificationandtrajectoryprediction
AT choubeilamaaoui artificialintelligenceforvehiclebehavioranticipationhybridapproachbasedonmaneuverclassificationandtrajectoryprediction