ترغب بنشر مسار تعليمي؟ اضغط هنا

Long-Term Prediction of Lane Change Maneuver Through a Multilayer Perceptron

88   0   0.0 ( 0 )
 نشر من قبل Ziran Wang
 تاريخ النشر 2020
  مجال البحث الهندسة المعلوماتية
والبحث باللغة English




اسأل ChatGPT حول البحث

Behavior prediction plays an essential role in both autonomous driving systems and Advanced Driver Assistance Systems (ADAS), since it enhances vehicles awareness of the imminent hazards in the surrounding environment. Many existing lane change prediction models take as input lateral or angle information and make short-term (< 5 seconds) maneuver predictions. In this study, we propose a longer-term (5~10 seconds) prediction model without any lateral or angle information. Three prediction models are introduced, including a logistic regression model, a multilayer perceptron (MLP) model, and a recurrent neural network (RNN) model, and their performances are compared by using the real-world NGSIM dataset. To properly label the trajectory data, this study proposes a new time-window labeling scheme by adding a time gap between positive and negative samples. Two approaches are also proposed to address the unstable prediction issue, where the aggressive approach propagates each positive prediction for certain seconds, while the conservative approach adopts a roll-window average to smooth the prediction. Evaluation results show that the developed prediction model is able to capture 75% of real lane change maneuvers with an average advanced prediction time of 8.05 seconds.



قيم البحث

اقرأ أيضاً

Breast cancer is the most frequently reported cancer type among the women around the globe and beyond that it has the second highest female fatality rate among all cancer types. Despite all the progresses made in prevention and early intervention, ea rly prognosis and survival prediction rates are still unsatisfactory. In this paper, we propose a novel type of perceptron called L-Perceptron which outperforms all the previous supervised learning methods by reaching 97.42 % and 98.73 % in terms of accuracy and sensitivity, respectively in Wisconsin Breast Cancer dataset. Experimental results on Habermans Breast Cancer Survival dataset, show the superiority of proposed method by reaching 75.18 % and 83.86 % in terms of accuracy and F1 score, respectively. The results are the best reported ones obtained in 10-fold cross validation in absence of any preprocessing or feature selection.
Reservoir computing systems, a class of recurrent neural networks, have recently been exploited for model-free, data-based prediction of the state evolution of a variety of chaotic dynamical systems. The prediction horizon demonstrated has been about half dozen Lyapunov time. Is it possible to significantly extend the prediction time beyond what has been achieved so far? We articulate a scheme incorporating time-dependent but sparse data inputs into reservoir computing and demonstrate that such rare updates of the actual state practically enable an arbitrarily long prediction horizon for a variety of chaotic systems. A physical understanding based on the theory of temporal synchronization is developed.
Tropical cyclones can be of varied intensity and cause a huge loss of lives and property if the intensity is high enough. Therefore, the prediction of the intensity of tropical cyclones advance in time is of utmost importance. We propose a novel stac ked bidirectional long short-term memory network (BiLSTM) based model architecture to predict the intensity of a tropical cyclone in terms of Maximum surface sustained wind speed (MSWS). The proposed model can predict MSWS well advance in time (up to 72 h) with very high accuracy. We have applied the model on tropical cyclones in the North Indian Ocean from 1982 to 2018 and checked its performance on two recent tropical cyclones, namely, Fani and Vayu. The model predicts MSWS (in knots) for the next 3, 12, 24, 36, 48, 60, and 72 hours with a mean absolute error of 1.52, 3.66, 5.88, 7.42, 8.96, 10.15, and 11.92, respectively.
Deep learning is revolutionizing predictive healthcare, including recommending medications to patients with complex health conditions. Existing approaches focus on predicting all medications for the current visit, which often overlaps with medication s from previous visits. A more clinically relevant task is to identify medication changes. In this paper, we propose a new recurrent residual network, named MICRON, for medication change prediction. MICRON takes the changes in patient health records as input and learns to update a hidden medication vector and the medication set recurrently with a reconstruction design. The medication vector is like the memory cell that encodes longitudinal information of medications. Unlike traditional methods that require the entire patient history for prediction, MICRON has a residual-based inference that allows for sequential updating based only on new patient features (e.g., new diagnoses in the recent visit) more efficiently. We evaluated MICRON on real inpatient and outpatient datasets. MICRON achieves 3.5% and 7.8% relative improvements over the best baseline in F1 score, respectively. MICRON also requires fewer parameters, which significantly reduces the training time to 38.3s per epoch with 1.5x speed-up.
113 - Fei Ye , Xuxin Cheng , Pin Wang 2020
Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions and even crashes. While many rule-based methods have been proposed to solve lane change problems for autonomous driving, they tend to exhibit limited performance due to the uncertainty and complexity of the driving environment. Machine learning-based methods offer an alternative approach, as Deep reinforcement learning (DRL) has shown promising success in many application domains including robotic manipulation, navigation, and playing video games. However, applying DRL to autonomous driving still faces many practical challenges in terms of slow learning rates, sample inefficiency, and safety concerns. In this study, we propose an automated lane change strategy using proximal policy optimization-based deep reinforcement learning, which shows great advantages in learning efficiency while still maintaining stable performance. The trained agent is able to learn a smooth, safe, and efficient driving policy to make lane-change decisions (i.e. when and how) in a challenging situation such as dense traffic scenarios. The effectiveness of the proposed policy is validated by using metrics of task success rate and collision rate. The simulation results demonstrate the lane change maneuvers can be efficiently learned and executed in a safe, smooth, and efficient manner.

الأسئلة المقترحة

التعليقات
جاري جلب التعليقات جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
mircosoft-partner

هل ترغب بارسال اشعارات عن اخر التحديثات في شمرا-اكاديميا