Long-term vehicle motion prediction

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Abstract

Future driver assistance systems will have to cope with complex traffic<br />situations, especially in the road crossing scenario. To detect potentially<br />hazardous situations as early as possible, it is therefore desirable<br />to know the position and motion of the ego-vehicle and vehicles around<br />it for several seconds in advance. For this purpose, we propose in<br />this study a long-term prediction approach based on a combined trajectory<br />classification and particle filter framework. As a measure for the<br />similarity between trajectories, we introduce the quaternion-based<br />rotationally invariant longest common subsequence {(QRLCS)} metric.<br />The trajectories are classified by a radial basis function {(RBF)}<br />classifier with an architecture that is able to process trajectories<br />of arbitrary non-uniform length. The particle filter framework simultaneously<br />tracks and assesses a large number of motion hypotheses ({\textasciitilde}102),<br />where the class-specific probabilities estimated by the {RBF} classifier<br />are used as a-priori probabilities for the hypotheses of the particle<br />filter. The hypotheses are clustered with a mean-shift technique<br />and are assigned a likelihood value. Motion prediction is performed<br />based on the cluster centre with the highest likelihood. While traditional<br />motion prediction based on curve radius and acceleration is inaccurate<br />especially during turning manoeuvres, we show that our approach achieves<br />a reasonable motion prediction even for long prediction intervals<br />of 3 s for these complex motion patterns.

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Hermes, C., Wohler, C., Schenk, K., & Kummert, F. (2009). Long-term vehicle motion prediction. In IEEE Intelligent Vehicles Symposium, Proceedings (pp. 652–657). https://doi.org/10.1109/IVS.2009.5164354

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