도로 기하 정보를 적용한 다중 모델 기반의 확률적인 차량 경로 예측
- Title
- 도로 기하 정보를 적용한 다중 모델 기반의 확률적인 차량 경로 예측
- Other Titles
- Multi-model Based Probabilistic Prediction of Vehicle Trajectory with Road Geometry
- Author
- 이형철
- Keywords
- 차량 행동 추정; 경로 예측; 확률기반 예측; 상호간섭 다중 모델; 곡선좌표; 자율주행자동차; vehicle behavior estimation; trajectory prediction; probabilistic prediction; interacting multiple model(IMM) filter; curvilinear coordinate; autonomous vehicle
- Issue Date
- 2020-07
- Publisher
- 한국자동차공학회
- Citation
- 2020 한국자동차공학회 춘계학술대회, page. 407-414
- Abstract
- This paper proposed a multi-model based stochastic vehicle trajectory prediction algorithm using road geometry
information. The probability of collision with surrounding vehicles has been suggested as an indicator for determining the
suitability of an autonomous driving system. To estimate vehicle behavior in complicated situation in usual roadway, the road
geometry and the model-based estimation of various vehicle behaviors should be integrated. the Interacting Multiple Model
(IMM) filter with a curvilinear coordinate system is used for model integration to estimation vehicle behavior from complex
road geometry information. Moreover, each probabilities of basis models are used to predict trajectory of surrounding vehicles.
This proposed method was designed in simulation environment and validated with various scenarios such as lane keeping and
lane changing in curved road.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE09417994https://repository.hanyang.ac.kr/handle/20.500.11754/169535
- ISSN
- 2713-7163
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML