Modelling Dynamic Scenes at Unsignalised Road IntersectionsReport as inadecuate




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1 E-MOTION - Geometry and Probability for Motion and Action Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d-Informatique de Grenoble 2 RENAULT SAS 3 LPPA - Laboratoire de Physiologie de la Perception et de l-Action

Abstract : Understanding dynamic scenes at road intersections is both crucial and challenging for intelligent vehicles. In order to detect potentially dangerous situations, algorithms are needed that can interpret the behaviour of the actors in the scene and predict its likely evolution. The difficulty of this task arises from the large number of possible scenarios. The conventional answer to this issue is to discard vehicle interactions in the manoeuvre prediction process, i.e. to infer the manoeuvre performed by each vehicle from its past and current behaviour, independently from the other vehicles in the scene. In this paper we show how this affects collision risk estimation in very common scenarios, making it unusable in practice for Advanced Driver Assistance Systems ADAS applications. As an alternative we propose a probabilistic model for vehicles traversing unsignalised intersections that accounts for the mutual influence between vehicle manoeuvres. The focus is on the utilisation of contextual information i.e. layout of the intersection, presence of other vehicles and traffic rules to interpret a vehicle-s behaviour. We show how the model can be used for accurate situation and risk assessment.

Mots-clés : Intelligent Transportation Systems ITS Advanced Driver Assistance System ADAS situation assessment manoeuvre estimation collision risk estimation





Author: Stéphanie Lefèvre - Christian Laugier - Javier Ibañez-Guzmán - Pierre Bessiere -

Source: https://hal.archives-ouvertes.fr/



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