Communication Dans Un Congrès Année : 2018

Sensor based Prediction of Human Driving Decisions using Feed-forward Neural Networks for Intelligent Vehicles

Résumé

Prediction of human driving decisions is an important aspect of modeling human behavior for the application to Advanced Driver Assistance Systems (ADAS) in the intelligent vehicles. This paper presents a sensor based receding horizon model for the prediction of human driving commands. Human driving decisions are expressed in terms of the vehicle speed and steering wheel angle profiles. Environmental state and human intention are the two major factors influencing the human driving decisions. The environment around the vehicle is perceived using LIDAR sensor. Feature extractor computes the occupancy grid map from the sensor data which is filtered and processed to provide precise and relevant information to the feed-forward neural network. Human intentions can be identified from the past driving decisions and represented in the form of time series data for the neural network. Supervised machine learning is used to train the neural network. Data collection and model validation is performed in the driving simulator using the SCANeR studio software. Simulation results are presented alone with the analysis.

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hal-01943606 , version 1 (04-12-2018)

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Shriram Jugade, Alessandro Corrêa Victorino, Véronique Cherfaoui, Stratis Kanarachos. Sensor based Prediction of Human Driving Decisions using Feed-forward Neural Networks for Intelligent Vehicles. 21st IEEE International Conference on Intelligent Transportation Systems (ITSC 2018), Nov 2018, Maui, Hawaii, United States. pp.691-696, ⟨10.1109/ITSC.2018.8569441⟩. ⟨hal-01943606⟩
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