the article has been accepted for publication in IEEE Robotics and Automation Letters (RA-L); the article has been submitted to RA-L with IEEE ICRA conference option; if the article will be presented during the conference will be decided independently; 8 pages, 5 figures, 6 tables
To plan safe and comfortable trajectories for automated vehicles on highways, accurate predictions of traffic situations are needed. So far, a lot of research effort has been spent on detecting lane change maneuvers rather than on estimating the point in time a lane change actually happens. In practice, however, this temporal information might be even more useful. This paper deals with the development of a system that accurately predicts the time to the next lane change of surrounding vehicles on highways using long short-term memory-based recurrent neural networks. An extensive evaluation based on a large real-world data set shows that our approach is able to make reliable predictions, even in the most challenging situations, with a root mean squared error around 0.7 seconds. Already 3.5 seconds prior to lane changes the predictions become highly accurate, showing a median error of less than 0.25 seconds. In summary, this article forms a fundamental step towards downstreamed highly accurate position predictions.
University of Bamberg（班贝格大学）；IBM Deutschland GmbH（IBM德国有限公司）；fortiss GmbH（福蒂斯有限公司）
Artificial Intelligence and Digital Twins play an integral role in driving innovation in the domain of intelligent driving. Long short-term memory (LSTM) is a leading driver in the field of lane change prediction for manoeuvre anticipation. However, the decision-making process of such models is complex and non-transparent, hence reducing the trustworthiness of the smart solution. This work presents an innovative approach and a technical implementation for explaining lane change predictions of layer normalized LSTMs using Layer-wise Relevance Propagation (LRP). The core implementation includes …
From Observation to Prediction: LSTM for Vehicle Lane Change Forecasting on Highway On/Off-Ramps
C-DRiVeS Lab: Cognitive Driving Research in Vehicular Systems（C-DRiVeS实验室：车载系统认知驾驶研究）；Computer Science and Engineering Department - Faculty of Media Engineering and Technology - German University in Cairo（计算机科学与工程系 - 媒体工程与技术学院 - 埃及德国大学）
Hefei Institutes of Physical Science, Chinese Academy of Sciences（中国科学院合肥物质科学研究院）；University of Science and Technology of China（中国科学技术大学）；Lappeenranta University of Technology (LUT)（拉彭兰塔工业大学）
It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly focus on the image from camera, due to the limitation of the sensor itself, the accurate three-dimensional spatial position of the lane marking cannot be obtained, so the demand for the lane level high-precision map construction cannot be met. This paper proposes a lane marking semantic segmentation method based on LIDAR and camera fusion deep neural networ…
Automatic driving lane change safety prediction model based on LSTM
Trine University（特莱恩大学）；Yantai University（烟台大学）；University of Electronic Science and Technology of China（电子科技大学）；Northern Arizona University（北亚利桑那大学）；University of Aberdeen（阿伯丁大学）
Izmir Institute of Technology（伊兹密尔理工学院）；TTTech Auto Turkey Software（TTTech汽车土耳其软件公司）
Advanced driver assistance and automated driving systems should be capable of predicting and avoiding dangerous situations. This study proposes a method to predict potentially dangerous cut-in maneuvers happening in the ego lane. We follow a computer vision-based approach that only employs a single in-vehicle RGB camera, and we classify the target vehicle's maneuver based on the recent video frames. Our algorithm consists of a CNN-based vehicle detection and tracking step and an LSTM-based maneuver classification step. It is more computationally efficient than other vision-based methods since …
Islamic Azad University, Ardabil Branch（伊斯兰阿扎德大学阿尔达比勒分校）；Sama technical and vocational training college, Islamic Azad University, Ardabil branch（伊斯兰阿扎德大学阿尔达比勒分校萨马职业技术培训学院）；Iran University of Science and Technology（伊朗科技大学）
The recent global outbreak of covid-19 is affecting many countries around the world. Due to the growing number of newly infected individuals and the health-care system bottlenecks, it will be useful to predict the upcoming number of patients. This study aims to efficiently forecast the is used to estimate new cases, number of deaths, and number of recovered patients in Iran for 180 days, using the official dataset of the Iranian Ministry of Health and Medical Education and the impact of control measures on the spread of COVID-19. Four different types of forecasting techniques, time series, and…
Multi-Scenario Highway Lane-Change Intention Prediction: A Physics-Informed AI Framework for Three-Class Classification
New York University（纽约大学）；Cornell University（康奈尔大学）；Wake Forest University（维克森林大学）；University of Pennsylvania（宾夕法尼亚大学）；Fordham University（福特汉姆大学）；Nanjing Tech University（南京工业大学）
Accurately forecasting the future movements of surrounding vehicles is essential for safe and efficient operations of autonomous driving cars. This task is difficult because a vehicle's moving trajectory is greatly determined by its driver's intention, which is often hard to estimate. By leveraging attention mechanisms along with long short-term memory (LSTM) networks, this work learns the relation between a driver's intention and the vehicle's changing positions relative to road infrastructures, and uses it to guide the prediction. Different from other state-of-the-art solutions, our work tre…
Vehicles on highway on-ramps are one of the leading contributors to congestion. In this paper, we propose a prediction framework that predicts the longitudinal trajectories and lane changes (LCs) of vehicles on highway on-ramps and tapers. Specifically, our framework adopts a combination of prediction models that inputs a 4 seconds duration of a trajectory to output a forecast of the longitudinal trajectories and LCs up to 15 seconds ahead. Training and Validation based on next generation simulation (NGSIM) data show that the prediction power of the developed model and its accuracy outperforms…
Dynamic wireless charging (DWC) is an emerging technology that allows electric vehicles (EVs) to be wirelessly charged while in motion. It is gaining significant momentum as it can potentially address the range limitation issue for EVs. However, due to significant power loss caused by wireless power transfer, improving charging efficiency remains as a major challenge for DWC systems. This paper presents the first LSTM-based vehicle motion control system for DWC designed to maximize charging efficiency. The dynamics of the electromagnetic field generated by the transmitter coils of a DWC system…
Nagoya University（名古屋大学）；UT Dallas（得克萨斯大学达拉斯分校）；Daido University（大同大学）；Tier IV Inc.（Tier IV公司）
Advanced driver assistance and automated driving systems rely on risk estimation modules to predict and avoid dangerous situations. Current methods use expensive sensor setups and complex processing pipeline, limiting their availability and robustness. To address these issues, we introduce a novel deep learning based action recognition framework for classifying dangerous lane change behavior in short video clips captured by a monocular camera. We designed a deep spatiotemporal classification network that uses pre-trained state-of-the-art instance segmentation network Mask R-CNN as its spatial …
This paper explores the idea of utilising Long Short-Term Memory neural networks (LSTMNN) for the generation of musical sequences in ABC notation. The proposed approach takes ABC notations from the Nottingham dataset and encodes it to be fed as input for the neural networks. The primary objective is to input the neural networks with an arbitrary note, let the network process and augment a sequence based on the note until a good piece of music is produced. Multiple calibrations have been done to amend the parameters of the network for optimal generation. The output is assessed on the basis of r…
This study compares the modularity performance of two artificial neural network architectures: a Long Short-Term Memory (LSTM) recurrent network, and Morphognosis, a neural network based on a hierarchy of spatial and temporal contexts. Mazes are used to measure performance, defined as the ability to utilize independently learned mazes to solve mazes composed of them. A maze is a sequence of rooms connected by doors. The modular task is implemented as follows: at the beginning of the maze, an initial door choice forms a context that must be retained until the end of an intervening maze, where t…
Department of Mathematics；Statistics, Texas A\&M University - Corpus Christ, 6300 Ocean Dr., Corpus Christi, TX 78412, USA
Financial markets are highly complex and volatile; thus, learning about such markets for the sake of making predictions is vital to make early alerts about crashes and subsequent recoveries. People have been using learning tools from diverse fields such as financial mathematics and machine learning in the attempt of making trustworthy predictions on such markets. However, the accuracy of such techniques had not been adequate until artificial neural network (ANN) frameworks were developed. Moreover, making accurate real-time predictions of financial time series is highly subjective to the ANN a…
Coronavirus disease (COVID-19) spread forecasting is an important task to track the growth of the pandemic. Existing predictions are merely based on qualitative analyses and mathematical modeling. The use of available big data with machine learning is still limited in COVID-19 growth prediction even though the availability of data is abundance. To make use of big data in the prediction using deep learning, we use long short-term memory (LSTM) method to learn the correlation of COVID-19 growth over time. The structure of an LSTM layer is searched heuristically until the best validation score is…
Hong Kong University of Science and Technology（香港科技大学）
In this paper, we present an online two-level vehicle trajectory prediction framework for urban autonomous driving where there are complex contextual factors, such as lane geometries, road constructions, traffic regulations and moving agents. Our method combines high-level policy anticipation with low-level context reasoning. We leverage a long short-term memory (LSTM) network to anticipate the vehicle's driving policy (e.g., forward, yield, turn left, turn right, etc.) using its sequential history observations. The policy is then used to guide a low-level optimization-based context reasoning …
Biomediq A/S（Biomediq公司）；Cerebriu A/S（Cerebriu公司）；University of Copenhagen（哥本哈根大学）；University College London（伦敦大学学院）；King’s College London（伦敦国王学院）
Disease progression modeling (DPM) using longitudinal data is a challenging machine learning task. Existing DPM algorithms neglect temporal dependencies among measurements, make parametric assumptions about biomarker trajectories, do not model multiple biomarkers jointly, and need an alignment of subjects' trajectories. In this paper, recurrent neural networks (RNNs) are utilized to address these issues. However, in many cases, longitudinal cohorts contain incomplete data, which hinders the application of standard RNNs and requires a pre-processing step such as imputation of the missing values…
