A Dynamic Bayesian Network for Vehicle Maneuver Prediction in Highway Driving Scenarios: Framework and Verification

Accurate maneuver prediction for surrounding vehicles enables intelligent vehicles to make safe and socially compliant decisions in advance, thus improving the safety and comfort of the driving. The main contribution of this paper is proposing a practical, high-performance, and low-cost maneuver-prediction approach for intelligent vehicles. Our approach is based on a dynamic Bayesian network, which exploits multiple predictive features, namely, historical states of predicting vehicles, road structures, as well as traffic interactions for inferring the probability of each maneuver. The paper also presents algorithms of feature extraction for the network. Our approach is verified on real traffic data in large-scale publicly available datasets. The results show that our approach can recognize the lane-change maneuvers with an F1 score of 80% and an advanced prediction time of 3.75 s, which greatly improves the performance on prediction compared to other baseline approaches.

An IMM Filter Defined in the Linear-Circular Domain, Application to Maneuver Detection with Heading Only

In this article, we propose a multimodel filter for circular data. The so-called Circular Interacting Multimodel filter is derived in a Bayesian framework with the circular normal von Mises distribution. The aim of the proposed filter is to obtain the same performance in the circular domain as the classical IMM filter in the linear domain. In our approach, the mixing and fusion stages of the Circular Interacting Multimodel filter are, respectively, defined from the a priori and from the a posteriori circular distributions of the state angle knowing the measurements and according to a set of models. We propose in this article a set of circular models that will be used in order to detect the vehicle maneuvers from heading measurements. The Circular Interacting Multimodel filter performances are assessed on synthetic data and we show on real data a vehicle maneuver detection application.