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Model-based estimation of driver intentions using particle filtering
Örebro University, School of Science and Technology, Örebro University, Sweden. (Centre for Research on Embedded Systems (CERES))
Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad . (Embedded and Intelligent Systems Research (EIS), Högskolan i Halmstad; Centrum för forskning om inbyggda system (CERES), Örebro universitet)
2008 (English)In: 11th International IEEE Conference on Intelligent Transportation Systems, 2008. ITSC 2008, IEEE , 2008, 1177-1182 p.Conference paper (Refereed)
Abstract [en]

Proactive vehicle alert systems that warn the driver about dangerous situations must be able to reason about, and predict, likely future states of the traffic environment. Our prediction method is based on a combination of a fuzzy logic model for intersection turning behavior and Gipps model for car following behavior. The stochastic models are used together with a particle filter to recursively approximate the state probability distribution as measurements are received over time. Estimates of the unobservable part of the state are used to predict path choice and thus driver intentions. The approach is evaluated on trajectory data gathered from video footage of an intersection, however it is also relevant for trajectories acquired through vehicle-to-vehicle communication.

Place, publisher, year, edition, pages
IEEE , 2008. 1177-1182 p.
Keyword [en]
Vehicle alert systems, Prediction method
National Category
Computer Science
Research subject
Computer and Systems Science
URN: urn:nbn:se:oru:diva-21425DOI: 10.1109/ITSC.2008.4732623ISI: 000262929300197ScopusID: 2-s2.0-60749090048ISBN: 978-1-4244-2111-4OAI: diva2:487158
11th International IEEE Conference on Intelligent Transportation Systems, Beijing, China, October 12-15, 2008
Available from: 2012-01-31 Created: 2012-01-31 Last updated: 2012-01-31
In thesis
1. Situation-aware vehicles: supporting the next generation of cooperative traffic systems
Open this publication in new window or tab >>Situation-aware vehicles: supporting the next generation of cooperative traffic systems
2012 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Wireless communication between road vehicles enables a range of cooperative traffic applications including safety, efficiency and comfort functions. A common characteristic of the envisioned applications is that they act on environmental information to intepret traffic situations in order to provide the driver with warnings or recommendations. In this thesis we explore both the detection of hazardous traffic situations in order to provide driver warnings but also the detection of situations in which the cooperative system itself may fail.

The first theme of this thesis investigates how traffic safety functions that incorporate cooperatively exchanged information can be constructed so that they become resilient to failures in wireless communication. Inspired by how human drivers coordinate with limited information exchange, the use of pre-defined models of normative driver behavior is investigated by successfully predicting driver turning intent at an intersection using mobility traces extracted from video recordings. Furthermore a hazardous driving warning criterion based on model switching behavior is proposed and evaluated through test drives. Maneuvers classified as hazardous in the tests, such as swerving between lanes and not braking for traffic lights, are shown to be correctly detected using the criterion. Whereas robust coordination mechanisms may mask communication faults to some degree, severe degradations in communication are still expected to occur in non-line-of-sight conditions when using wireless communication at 5.9 GHz.

The second theme of the thesis explores how communication performance can be efficiently logged, gathered and aggregated into maps of communication quality. Both in-network aggregation as well as centralized aggregation is investigated using vehicles in the network as measurement probes and the feasibility of the approach in terms of bandwidth and storage requirements is shown analytically. In conjunction with a proposed communication quality requirements format, tailored specifically for vehicle-to-vehicle applications, such maps can be used to enable application-level adaptation in response to situations where quality requirements likely cannot be met.

Place, publisher, year, edition, pages
Örebro: Örebro universitet, 2012. 47 p.
Örebro Studies in Technology, ISSN 1650-8580 ; 52
National Category
Natural Sciences Computer Science
Research subject
Computer Science
urn:nbn:se:oru:diva-21338 (URN)978-91-7668-846-5 (ISBN)
Public defence
2012-02-12, Högskolan i Halmstad, Hörsal Wigfors, Halmstad, 13:15
Available from: 2012-01-30 Created: 2012-01-26 Last updated: 2012-12-10Bibliographically approved

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