Publications:Model-based estimation of driver intentions using particle filtering

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Title Model-based estimation of driver intentions using particle filtering
Author Kristoffer Lidström and Tony Larsson
Year 2008
PublicationType Conference Paper
Journal
HostPublication 11th International IEEE Conference on Intelligent Transportation Systems, 2008. ITSC 2008
DOI http://dx.doi.org/10.1109/ITSC.2008.4732623
Conference 11th International IEEE Conference on Intelligent Transportation Systems, Beijing, China, October 12-15, 2008
Diva url http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:239521
Abstract Proactive vehicle alert systems that warn the driver about dangerous situations must be able to reason about, and predict, likely future states of the traffic environment. Our prediction method is based on a combination of a fuzzy logic model for intersection turning behavior and Gipps model for car following behavior. The stochastic models are used together with a particle filter to recursively approximate the state probability distribution as measurements are received over time. Estimates of the unobservable part of the state are used to predict path choice and thus driver intentions. The approach is evaluated on trajectory data gathered from video footage of an intersection, however it is also relevant for trajectories acquired through vehicle-to-vehicle communication.