Vehicle Action Intention Prediction plays a more and more crucial role in automated driving and traffic safety. It allows automated vehicles to comprehend the other road participants’ current actions, and foresee the upcoming actions, which can significantly reduce the likelihood of traffic accidents, so as to enhance overall road safety. Meanwhile, by anticipating other vehicles’ movements on the road, the ego vehicle can plan its velocity and trajectory in advance, and make more smooth and finer adjustments during the whole driving process, contributing to a more safe and efficient traffic. Furthermore, the intention prediction enables vehicles to respond proactively rather than reactively in traditional ADAS (Advanced Driver Assistance Systems), such as AEB (Automatic Emergency Braking), which facilitates a more preventive and early intervention approach to traffic safety. In normal conditions, traffic behavior is controlled by traffic rules. This thesis explores vehicle behavior using intention prediction models in scenarios where there are no traffic rules. At hand, we have a unique dataset containing vehicle trajectories, collected from 2 cameras installed overhead on a 1-lane narrowing street, where the vehicles need to negotiate their right of way. After pre-processing these data to form specific input structures, we use different classifier models including both traditional methods and deep learning methods to make vehicle action intention predictions. The data was organized in 3-second windows and contained vehicle position and distance to the center of the intersection along with the speed of both vehicles. We compared and evaluated the model performances and found that MLPs (Multi-Layer Perceptrons) and LSTM (Long Short Term Memory) yield the best performance. Furthermore, a feature selection method and features’ importance analysis are also applied to explore which variables influence the model most in order to explain the internal principle of the prediction model. It was found that close to the narrowing street the first and last samples of the position and distance in the time window and the last sample of the speed of both vehicles were found to influence the model performance the most. Further away from the narrowing street, the first and last samples of the position of the vehicle have a higher influence on the model.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:hh-53437 |
| Date | January 2024 |
| Creators | Wang, Yijun |
| Publisher | Högskolan i Halmstad, Akademin för informationsteknologi |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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