軌道特徴を用いた運転者行動の識別と車両ナビゲーションへの応用
Identifying Driver Behaviors using Trajectory Features for Vehicle Navigation
車両軌道から抽出した特徴量を用いて運転者の6種類の行動をデータ駆動で識別し、周囲の車両の危険度スコアを算出して自動運転の安全なナビゲーションに活用する手法を提案した。
著者: Ernest Cheung, Aniket Bera, Emily Kubin, Kurt Gray, Dinesh Manocha
分類: cs.RO
原文アブストラクト
We present a novel approach to automatically identify driver behaviors from vehicle trajectories and use them for safe navigation of autonomous vehicles. We propose a novel set of features that can be easily extracted from car trajectories. We derive a data-driven mapping between these features and six driver behaviors using an elaborate web-based user study. We also compute a summarized score indicating a level of awareness that is needed while driving next to other vehicles. We also incorporate our algorithm into a vehicle navigation simulation system and demonstrate its benefits in terms of safer real-time navigation, while driving next to aggressive or dangerous drivers.
