Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve
Advanced driver assistance systems (ADAS) for crash avoidance, when making a right-turn in left-hand traffic or left-turn in right-hand traffic, are expected to further reduce the number of traffic accidents caused by automobiles. Accurate future trajectory prediction of an ego vehicle for risk pred...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-06-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/13/5900 |
| _version_ | 1827688811316903936 |
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| author | Yohei Fujinami Pongsathorn Raksincharoensak Shunsaku Arita Rei Kato |
| author_facet | Yohei Fujinami Pongsathorn Raksincharoensak Shunsaku Arita Rei Kato |
| author_sort | Yohei Fujinami |
| collection | DOAJ |
| description | Advanced driver assistance systems (ADAS) for crash avoidance, when making a right-turn in left-hand traffic or left-turn in right-hand traffic, are expected to further reduce the number of traffic accidents caused by automobiles. Accurate future trajectory prediction of an ego vehicle for risk prediction is important to activate the assistance system correctly. Our objectives are to propose a trajectory prediction method for ADAS for safe intersection turnings and to evaluate the effectiveness of the proposed prediction method. Our proposed curve generation method is capable of generating a smooth curve without discontinuities in the curvature. By incorporating the curve generation method into the vehicle trajectory prediction, the proposed method could simulate the actual driving path of human drivers at a low computational cost. The curve would be required to define positions, angles, and curvatures at its initial and terminal points. Driving experiments conducted at real city traffic intersections proved that the proposed method could predict the trajectory with a high degree of accuracy for various shapes and sizes of the intersections. This paper also describes a method to determine the terminal conditions of the curve generation method from intersection features. We set a hypothesis where the conditions can be defined individually from intersection geometry. From the hypothesis, a formula to determine the parameter was derived empirically from the driving experiments. Public road driving experiments indicated that the parameters for the trajectory prediction could be appropriately estimated by the obtained empirical formula. |
| first_indexed | 2024-03-10T10:04:54Z |
| format | Article |
| id | doaj.art-b51dc0f0e6d34b1a926232361917239e |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T10:04:54Z |
| publishDate | 2021-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-b51dc0f0e6d34b1a926232361917239e2023-11-22T01:41:06ZengMDPI AGApplied Sciences2076-34172021-06-011113590010.3390/app11135900Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal CurveYohei Fujinami0Pongsathorn Raksincharoensak1Shunsaku Arita2Rei Kato3Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo 184-8588, JapanDepartment of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo 184-8588, JapanNational Defense Academy, Yokosuka, Kanagawa 239-8686, JapanDepartment of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo 184-8588, JapanAdvanced driver assistance systems (ADAS) for crash avoidance, when making a right-turn in left-hand traffic or left-turn in right-hand traffic, are expected to further reduce the number of traffic accidents caused by automobiles. Accurate future trajectory prediction of an ego vehicle for risk prediction is important to activate the assistance system correctly. Our objectives are to propose a trajectory prediction method for ADAS for safe intersection turnings and to evaluate the effectiveness of the proposed prediction method. Our proposed curve generation method is capable of generating a smooth curve without discontinuities in the curvature. By incorporating the curve generation method into the vehicle trajectory prediction, the proposed method could simulate the actual driving path of human drivers at a low computational cost. The curve would be required to define positions, angles, and curvatures at its initial and terminal points. Driving experiments conducted at real city traffic intersections proved that the proposed method could predict the trajectory with a high degree of accuracy for various shapes and sizes of the intersections. This paper also describes a method to determine the terminal conditions of the curve generation method from intersection features. We set a hypothesis where the conditions can be defined individually from intersection geometry. From the hypothesis, a formula to determine the parameter was derived empirically from the driving experiments. Public road driving experiments indicated that the parameters for the trajectory prediction could be appropriately estimated by the obtained empirical formula.https://www.mdpi.com/2076-3417/11/13/5900advanced driver assistanceintersection safetyintersection turningtrajectory prediction |
| spellingShingle | Yohei Fujinami Pongsathorn Raksincharoensak Shunsaku Arita Rei Kato Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve Applied Sciences advanced driver assistance intersection safety intersection turning trajectory prediction |
| title | Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve |
| title_full | Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve |
| title_fullStr | Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve |
| title_full_unstemmed | Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve |
| title_short | Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve |
| title_sort | experimental validation on intersection turning trajectory prediction method for advanced driver assistance system based on triclothoidal curve |
| topic | advanced driver assistance intersection safety intersection turning trajectory prediction |
| url | https://www.mdpi.com/2076-3417/11/13/5900 |
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