Abstract
The behavior of traffic participants is full of uncertainties in the real world. It depends on their intentions, the road layout, and the interaction between them. Probabilistic intention and motion predictions are unavoidable to safely navigate in complex scenarios. In this work, we propose a framework to compute the motion prediction of the surrounding vehicles taking into account all possible routes obtained from a given map. To that end, a Dynamic Bayesian Network is used to model the problem and a particle filter is applied to infer the probability of being on a specific route and the intention to change lanes. Our framework, based on Markov chains, is generic and can handle various road layouts and any number of vehicles. The framework is evaluated in two scenarios: a two-lane highway and a three-lane merging highway. Finally, the influence of a set of lane-changing methods is evaluated on the predictions of the vehicles present on the scene.
This work has been partially funded by the Spanish Ministry of Science and Innovation, the Community of Madrid through SEGVAUTO 4.0-CM (S2018-EMT-4362) Programme, and by the European Commission and ECSEL Joint Undertaking through the Project NEWCONTROL (826653).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Trentin, V., Artuñedo, A., Godoy, J., Villagra, J.: A comparison of lateral intention models for interaction-aware motion prediction at highways. In: Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS), Prague, Czech Republic, 28–30 April 2021 (2021)
Zhan, W., de La Fortelle, A., Chen, Y., Chan, C., Tomizuka, M.: Probabilistic prediction from planning perspective: problem formulation, representation simplification and evaluation metric. IEEE Intell. Veh. Symp. (IV) 2018, 1150–1156 (2018). https://doi.org/10.1109/IVS.2018.8500697
Klingelschmitt, S., Damerow, F., Willert, V., Eggert, J.: Probabilistic situation assessment framework for multiple, interacting traffic participants in generic traffic scenes. IEEE Intell. Veh. Symp. (IV) 2016, 1141–1148 (2016). https://doi.org/10.1109/IVS.2016.7535533
Lefevre, S., Laugier, C., Ibanez-Guzman, J.: Intention-aware risk estimation for general traffic situations, and application to intersection safety. Inria research report. RR-8379 (2013)
Villagra, J., Artuñedo, A., Trentin, V., Godoy, J.: Interaction-aware risk assessment: focus on the lateral intention, pp. 1–6 (2020). https://doi.org/10.1109/CAVS51000.2020.9334597
Althoff, M., Magdici, S.: Set-based prediction of traffic participants on arbitrary road networks. IEEE Trans. Intell. Veh. 1(2), 187–202 (2016). https://doi.org/10.1109/TIV.2016.2622920
Althoff, M.: Reachability analysis and its application to the safety assessment of autonomous cars (2010)
Zechel, P., Streiter, R., Bogenberger, K., Göhner, U.: Over-approximation of the driver behavior as occupancy prediction. In: 2019 IEEE 14th International Conference on Intelligent Systems and Knowledge Engineering (ISKE), pp. 735–742 (2019). https://doi.org/10.1109/ISKE47853.2019.9170398
Koschi, M., Althoff, M.: SPOT: a tool for set-based prediction of traffic participants. IEEE Intell. Veh. Symp. (IV) 2017, 1686–1693 (2017). https://doi.org/10.1109/IVS.2017.7995951
Schulz, J., Hubmann, C., Löchner, J., Burschka, D.: Interaction-aware probabilistic behavior prediction in urban environments (2018)
Koschi, M., Althoff, M.: Interaction-aware occupancy prediction of road vehicles, pp. 1–8 (2017). https://doi.org/10.1109/ITSC.2017.8317852
Trentin, V., Artuñedo, A., Godoy, J., Villagra, J.: Interaction-aware intention estimation at roundabouts. IEEE Access 9, 123088–123102 (2021). https://doi.org/10.1109/ACCESS.2021.3109350
Bender, P., Ziegler, J., Stiller, C.: Lanelets: efficient map representation for autonomous driving. IEEE Intell. Veh. Symp. Proc. 2014, 420–425 (2014). https://doi.org/10.1109/IVS.2014.6856487
Godoy, J., Jiménez, V., Artuñedo, A., Villagra, J.: A grid-based framework for collective perception in autonomous vehicles. Sensors 21(3), 744 (2021)
Vechione, M., Balal, E., Cheu, R.: Comparisons of mandatory and discretionary lane changing behavior on freeways. Int. J. Transp. Sci. Technol. 7(2), 124–136 (2018). https://doi.org/10.1016/j.ijtst.2018.02.002
Toledo, T., Koutsopoulos, H., Ben-Akiva, M.: Modeling integrated lane-changing behavior. Transp. Res. Rec. 1857(1), 30–38 (2003). https://doi.org/10.3141/1857-04
Althoff, M.: An Introduction to CORA 2015 (2015). https://doi.org/10.29007/zbkv
Mathew, T.V.: Lane changing models (2019). https://www.civil.iitb.ac.in/tvm/nptel/534_LaneChange/web/web.html. Accessed 19 Nov 2020
Kesting, A., Treiber, M., Helbing, D.: General lane-changing model MOBIL for car-following models. Transp. Res. Rec. 1999, 86–94 (2007). https://doi.org/10.3141/1999-10
Treiber, M., Hennecke, A., Helbing, D.: Congested traffic states in empirical observations and microscopic simulations. Phys. Rev. E 62, 1805–1824 (2000). https://doi.org/10.1103/PhysRevE.62.1805
Toledo, T., Choudhury, C., Ben-Akiva, M.: Lane-changing model with explicit target lane choice. Transp. Res. Rec. 1934(1), 157–165 (2005). https://doi.org/10.3141/1934-17
AVSimulation: SCANeR studio User Manual (2019)
Moers, T., Vater, L., Krajewski, R., Bock, J., Zlocki, A., Eckstein, L.: The exiD dataset: a real-world trajectory dataset of highly interactive highway scenarios in germany. In: 2022 IEEE Intell. Veh. Symp. (IV), 958–964 (2022). https://doi.org/10.1109/IV51971.2022.9827305
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 Springer Nature Switzerland AG
About this paper
Cite this paper
Trentin, V., Artuñedo, A., Godoy, J., Villagra, J. (2022). Interaction-Aware Motion Prediction at Highways: A Comparison of Three Lane Changing Models. In: Klein, C., Jarke, M., Helfert, M., Berns, K., Gusikhin, O. (eds) Smart Cities, Green Technologies, and Intelligent Transport Systems. VEHITS SMARTGREENS 2021 2021. Communications in Computer and Information Science, vol 1612. Springer, Cham. https://doi.org/10.1007/978-3-031-17098-0_14
Download citation
DOI: https://doi.org/10.1007/978-3-031-17098-0_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-17097-3
Online ISBN: 978-3-031-17098-0
eBook Packages: Computer ScienceComputer Science (R0)