The paper presents an approach for longitudinal interaction-aware vehicle motion prediction using an Intelligent Driver Model (IDM) with a data-driven extension, which is able to consider several traffic participants. The basic prediction concept for that approach was originally designed for multi-lane traffic scenarios in the authors' previous work [1], [2]. The approach is based on model knowledge, probabilistic estimation as well as machine learning components. The innovation of the paper at hand is the transfer of the concept for its usage in traffic junctions. Thereby, a decision tree is developed that processes different interaction features in order to select the relevant traffic participants. To estimate the model parameter values, a Sequential Importance Resampling (SIR) particle filter is used. Time-varying parameters which weight the selected objects considered in the multi-object IDM are adapted over the prediction horizon using a trained support vector machine (SVM) regression model. For validation, roundabout motion trajectories of the INTERACTION dataset [3] are used. Since the proposed prediction approach is able to consider vehicles' turn signal status, an augmentation of the dataset with turn signal attributes is realized. The accuracy of the prediction approach is compared to baseline methods by calculating the mean absolute error (MAE) of predicted vehicle speeds.


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    Titel :

    Longitudinal Vehicle Motion Prediction in Traffic Junctions Using a Data-Driven Multi-Object Intelligent Driver Model


    Beteiligte:


    Erscheinungsdatum :

    24.09.2024


    Format / Umfang :

    734996 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch