リスクマップを用いた強制車線変更のためのオンライン予測警告システム
Online and Predictive Warning System for Forced Lane Changes using Risk Maps
道路終端などで強制される車線変更に対し、リスクマップをリアルタイムに構築してリスク最小の行動を予測・提示する警告システムを提案し、低コストセンサ構成で実車検証した。
著者: Tim Puphal, Benedict Flade, Malte Probst, Volker Willert, Jürgen Adamy, Julian Eggert
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The survival analysis of driving trajectories allows for holistic evaluations of car-related risks caused by collisions or curvy roads. This analysis has advantages over common Time-To-X indicators, such as its predictive and probabilistic nature. However, so far, the theoretical risks have not been demonstrated in real-world environments. In this paper, we therefore present Risk Maps (RM) for online warning support in situations with forced lane changes, due to the end of roads. For this purpose, we first unify sensor data in a Relational Local Dynamic Map (R-LDM). RM is afterwards able to be run in real-time and efficiently probes a range of situations in order to determine risk-minimizing behaviors. Hereby, we focus on the improvement of uncertainty-awareness and transparency of the system. Risk, utility and comfort costs are included in a single formula and are intuitively visualized to the driver. In the conducted experiments, a low-cost sensor setup with a GNSS receiver for localization and multiple cameras for object detection are leveraged. The final system is successfully applied on two-lane roads and recommends lane change advices, which are separated in gap and no-gap indications. These results are promising and present an important step towards interpretable safety.
