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Register a new userDriver Behavior Modelling at the Urban Intersection via Canonical Correlation Analysis
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Added by
Cheng Gong
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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The urban intersection is a typically dynamic and complex scenario for intelligent vehicles, which exists a variety of driving behaviors and traffic participants. Accurately modelling the driver behavior at the intersection is essential for intelligent transportation systems (ITS). Previous researches mainly focus on using attention mechanism to model the degree of correlation. In this research, a canonical correlation analysis (CCA)-based framework is proposed. The value of canonical correlation is used for feature selection. Gaussian mixture model and Gaussian process regression are applied for driver behavior modelling. Two experiments using simulated and naturalistic driving data are designed for verification. Experimental results are consistent with the drivers judgment. Comparative studies show that the proposed framework can obtain a better performance.
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Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how to improve driver acceptance on the automated system. From the viewpoint of human factors, an automated system with different styles would improve user acceptance as the drivers can adapt the style to different driving situations. This paper proposes a method to design different lane change styles in automated driving by analysis and modeling of truck driver behavior. A truck driving simulator experiment with 12 participants was conducted to identify the driver model parameters and three lane change styles were classified as the aggressive, medium, and conservative ones. The proposed automated lane change system was evaluated by another truck driving simulator experiment with the same 12 participants. Moreover, the effect of different driving styles on driver experience and acceptance was evaluated. The evaluation results demonstrate that the different lane change styles could be distinguished by the drivers; meanwhile, the three styles were overall evaluated as acceptable on safety issues and reliable by the human drivers. This study provides insight into designing the automated driving system with different driving styles and the findings can be applied to commercial automated trucks.
The objective of multimodal information fusion is to mathematically analyze information carried in different sources and create a new representation which will be more effectively utilized in pattern recognition and other multimedia information processing tasks. In this paper, we introduce a new method for multimodal information fusion and representation based on the Labeled Multiple Canonical Correlation Analysis (LMCCA). By incorporating class label information of the training samples,the proposed LMCCA ensures that the fused features carry discriminative characteristics of the multimodal information representations, and are capable of providing superior recognition performance. We implement a prototype of LMCCA to demonstrate its effectiveness on handwritten digit recognition,face recognition and object recognition utilizing multiple features,bimodal human emotion recognition involving information from both audio and visual domains. The generic nature of LMCCA allows it to take as input features extracted by any means,including those by deep learning (DL) methods. Experimental results show that the proposed method enhanced the performance of both statistical machine learning (SML) methods, and methods based on DL.
High-dimensional variable selection is an important issue in many scientific fields, such as genomics. In this paper, we develop a sure independence feature screening pro- cedure based on kernel canonical correlation analysis (KCCA-SIS, for short). KCCA- SIS is easy to be implemented and applied. Compared to the sure independence screen- ing procedure based on the Pearson correlation (SIS, for short) developed by Fan and Lv [2008], KCCA-SIS can handle nonlinear dependencies among variables. Compared to the sure independence screening procedure based on the distance correlation (DC- SIS, for short) proposed by Li et al. [2012], KCCA-SIS is scale free, distribution free and has better approximation results based on the universal characteristic of Gaussian Kernel (Micchelli et al. [2006]). KCCA-SIS is more general than SIS and DC-SIS in the sense that SIS and DC-SIS correspond to certain choice of kernels. Compared to supremum of Hilbert Schmidt independence criterion-Sure independence screening (sup-HSIC-SIS, for short) developed by Balasubramanian et al. [2013], KCCA-SIS is scale free removing the marginal variation of features and response variables. No model assumption is needed between response and predictors to apply KCCA-SIS and it can be used in ultrahigh dimensional data analysis. Similar to DC-SIS and sup- HSIC-SIS, KCCA-SIS can also be used directly to screen grouped predictors and for multivariate response variables. We show that KCCA-SIS has the sure screening prop- erty, and has better performance through simulation studies. We applied KCCA-SIS to study Autism genes in a spatiotemporal gene expression dataset for human brain development, and obtained better results based on gene ontology enrichment analysis comparing to the other existing methods.
Canonical Correlation Analysis (CCA) is a statistical technique used to extract common information from multiple data sources or views. It has been used in various representation learning problems, such as dimensionality reduction, word embedding, and clustering. Recent work has given CCA probabilistic footing in a deep learning context and uses a variational lower bound for the data log likelihood to estimate model parameters. Alternatively, adversarial techniques have arisen in recent years as a powerful alternative to variational Bayesian methods in autoencoders. In this work, we explore straightforward adversarial alternatives to recent work in Deep Variational CCA (VCCA and VCCA-Private) we call ACCA and ACCA-Private and show how these approaches offer a stronger and more flexible way to match the approximate posteriors coming from encoders to much larger classes of priors than the VCCA and VCCA-Private models. This allows new priors for what constitutes a good representation, such as disentangling underlying factors of variation, to be more directly pursued. We offer further analysis on the multi-level disentangling properties of VCCA-Private and ACCA-Private through the use of a newly designed dataset we call Tangled MNIST. We also design a validation criteria for these models that is theoretically grounded, task-agnostic, and works well in practice. Lastly, we fill a minor research gap by deriving an additional variational lower bound for VCCA that allows the representation to use view-specific information from both input views.
Interactive driving scenarios, such as lane changes, merges and unprotected turns, are some of the most challenging situations for autonomous driving. Planning in interactive scenarios requires accurately modeling the reactions of other agents to different future actions of the ego agent. We develop end-to-end models for conditional behavior prediction (CBP) that take as an input a query future trajectory for an ego-agent, and predict distributions over future trajectories for other agents conditioned on the query. Leveraging such a model, we develop a general-purpose agent interactivity score derived from probabilistic first principles. The interactivity score allows us to find interesting interactive scenarios for training and evaluating behavior prediction models. We further demonstrate that the proposed score is effective for agent prioritization under computational budget constraints.
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