A Comparison of Lateral Intention Models for Interaction-aware Motion Prediction at Highways

Vinicius Trentin, Antonio Artuñedo, Jorge Godoy, Jorge Villagra

2021

Abstract

To safely navigate in complex scenarios is crucial to know the predictions of the vehicles involved in the scene. The future behavior of the traffic participants is dependent on their intentions, the road layout and the interaction between them. In this work, a framework is presented to compute the motion predictions of the surrounding vehicles considering all possible routes obtained from a given map. At each time step, with a Dynamic Bayesian Network, the probability of being on a specific route and the intention to change lanes are computed. Our framework, based on Markov chains, is generic and can handle various road layouts and any number of vehicles. We apply the framework in a two-lane highway and evaluate the influence of different lane-changing methods on the predictions of the vehicles present at the scene.

Paper Citation

in Harvard Style

Trentin V., Artuñedo A., Godoy J. and Villagra J. (2021). 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 - Volume 1: VEHITS, ISBN 978-989-758-513-5, pages 180-191. DOI: 10.5220/0010460701800191

in Bibtex Style

@conference{vehits21,
author={Vinicius Trentin and Antonio Artuñedo and Jorge Godoy and Jorge Villagra},
title={A Comparison of Lateral Intention Models for Interaction-aware Motion Prediction at Highways},
booktitle={Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2021},
pages={180-191},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010460701800191},
isbn={978-989-758-513-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - A Comparison of Lateral Intention Models for Interaction-aware Motion Prediction at Highways
SN - 978-989-758-513-5
AU - Trentin V.
AU - Artuñedo A.
AU - Godoy J.
AU - Villagra J.
PY - 2021
SP - 180
EP - 191
DO - 10.5220/0010460701800191