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Incorporating Uncertainty in Predicting Vehicle Maneuvers at Intersections With Complex Interactions
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL. (RPL/EECS)ORCID iD: 0000-0002-7796-1438
2019 (English)In: 2019 IEEE Intelligent Vehicles Symposium (IV), IEEE, 2019Conference paper, Published paper (Refereed)
Abstract [en]

Highly automated driving systems are required to make robust decisions in many complex driving environments, such as urban intersections with high traffic. In order to make as informed and safe decisions as possible, it is necessary for the system to be able to predict the future maneuvers and positions of other traffic agents, as well as to provide information about the uncertainty in the prediction to the decision making module. While Bayesian approaches are a natural way of modeling uncertainty, recently deep learning-based methods have emerged to address this need as well. However, balancing the computational and system complexity, while also taking into account agent interactions and uncertainties, remains a difficult task. The work presented in this paper proposes a method of producing predictions of other traffic agents' trajectories in intersections with a singular Deep Learning module, while incorporating uncertainty and the interactions between traffic participants. The accuracy of the generated predictions is tested on a simulated intersection with a high level of interaction between agents, and different methods of incorporating uncertainty are compared. Preliminary results show that the CVAE-based method produces qualitatively and quantitatively better measurements of uncertainty and manage to more accurately assign probability to the future occupied space of traffic agents.

Place, publisher, year, edition, pages
IEEE, 2019.
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-257881DOI: 10.1109/IVS.2019.8814159ISBN: 978-1-7281-0560-4 (electronic)OAI: oai:DiVA.org:kth-257881DiVA, id: diva2:1349139
Conference
2019 IEEE Intelligent Vehicles Symposium (IV)
Funder
Vinnova, 2016-02547
Note

QC 20190925

Available from: 2019-09-06 Created: 2019-09-06 Last updated: 2019-09-25Bibliographically approved

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Publisher's full texthttps://doi.org/10.1109/IVS.2019.8814159

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