Situation Assessment for Planning Lane Changes: Combining Recurrent Models and Prediction

Scheel O, Schwarz L, Navab N, Tombari F (2018)

Publication Type: Conference contribution

Publication year: 2018

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 2082-2088

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Brisbane, QLD, AUS

ISBN: 9781538630815

DOI: 10.1109/ICRA.2018.8462838

Abstract

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes. While in recent years advanced driver-assistance systems have made driving safer and more comfortable, these have mostly focused on car following scenarios, and less on maneuvers involving lane changes. In this work we propose a situation assessment algorithm for classifying driving situations with respect to their suitability for lane changing. For this, we propose a deep learning architecture based on a Bidirectional Recurrent Neural Network, which uses Long Short-Term Memory units, and integrates a prediction component in the form of the Intelligent Driver Model. We prove the feasibility of our algorithm on the publicly available NGSIM datasets, where we outperform existing methods.

Involved external institutions

BMW AG - Bayerische Motoren Werke / BMW Group DE Germany (DE) Technische Universität München (TUM) DE Germany (DE)

How to cite

APA:

Scheel, O., Schwarz, L., Navab, N., & Tombari, F. (2018). Situation Assessment for Planning Lane Changes: Combining Recurrent Models and Prediction. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2082-2088). Brisbane, QLD, AUS: Institute of Electrical and Electronics Engineers Inc..

MLA:

Scheel, Oliver, et al. "Situation Assessment for Planning Lane Changes: Combining Recurrent Models and Prediction." Proceedings of the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, QLD, AUS Institute of Electrical and Electronics Engineers Inc., 2018. 2082-2088.

BibTeX: Download