多様な運転状況における人間の交通・安全ルール遵守の分析
Traffic and Safety Rule Compliance of Humans in Diverse Driving Situations
複数の軌道予測データセット（Argoverse 2、nuPlan、Lyft、DeepUrban）を用いて、人間の交通・安全ルール遵守状況を比較評価し、データのノイズや望ましくない運転行動を明らかにした。
著者: Michael Kurenkov, Sajad Marvi, Julian Schmidt, Christoph B. Rist, Alessandro Canevaro, Hang Yu, Julian Jordan, Georg Schildbach, Abhinav Valada
分類: cs.RO, cs.LG
原文アブストラクト
The increasing interest in autonomous driving systems has highlighted the need for an in-depth analysis of human driving behavior in diverse scenarios. Analyzing human data is crucial for developing autonomous systems that replicate safe driving practices and ensure seamless integration into human-dominated environments. This paper presents a comparative evaluation of human compliance with traffic and safety rules across multiple trajectory prediction datasets, including Argoverse 2, nuPlan, Lyft, and DeepUrban. By defining and leveraging existing safety and behavior-related metrics, such as time to collision, adherence to speed limits, and interactions with other traffic participants, we aim to provide a comprehensive understanding of each datasets strengths and limitations. Our analysis focuses on the distribution of data samples, identifying noise, outliers, and undesirable behaviors exhibited by human drivers in both the training and validation sets. The results underscore the need for applying robust filtering techniques to certain datasets due to high levels of noise and the presence of such undesirable behaviors.
