Frenet Coordinate Based Driving Maneuver Prediction at Roundabouts Using LSTM Networks

Vogl C, Sackmann M, Kürzinger L, Hofmann U (2020)

Publication Type: Conference contribution

Publication year: 2020

Publisher: Association for Computing Machinery, Inc

Conference Proceedings Title: Proceedings - CSCS 2020: ACM Computer Science in Cars Symposium

Event location: Feldkirchen DE

ISBN: 9781450376211

DOI: 10.1145/3385958.3430475

Abstract

Driving maneuver prediction is a key requirement for automated vehicles to assess situations and effectively navigate in urban environments. In this paper, we present three models to predict whether a vehicle leaves a roundabout at a specific exit. We develop a Feedforward neural network (FNN), as well as two Long short-Term memory (LSTM) networks for this task. We propose several concepts that generalize the models to roundabouts with different radii, layouts, and numbers of exits. For this purpose, we also introduce Frenet coordinates with circles as reference paths. We evaluate our models based on the binary cross-entropy loss and the distance to the exit at which a reliable prediction is obtained in a leave-one-out cross-validation fashion, where one exit is always entirely used as the test set. Training and evaluation is performed on a data set of nearly 4,000 trajectories that we captured using a drone. Our best model achieves a reliable prediction on average 9.34m before an exit for class "Leaving"and 8.13m before an exit for class "Staying".

Authors with CRIS profile

Moritz Sackmann Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl)

Involved external institutions

Technische Universität München (TUM) DE Germany (DE) Audi AG DE Germany (DE)

How to cite

APA:

Vogl, C., Sackmann, M., Kürzinger, L., & Hofmann, U. (2020). Frenet Coordinate Based Driving Maneuver Prediction at Roundabouts Using LSTM Networks. In Stephen N. Spencer (Eds.), Proceedings - CSCS 2020: ACM Computer Science in Cars Symposium. Feldkirchen, DE: Association for Computing Machinery, Inc.

MLA:

Vogl, Carina, et al. "Frenet Coordinate Based Driving Maneuver Prediction at Roundabouts Using LSTM Networks." Proceedings of the 2020 ACM Computer Science in Cars Symposium, CSCS 2020, Feldkirchen Ed. Stephen N. Spencer, Association for Computing Machinery, Inc, 2020.

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