Author : Hua Huang
Release : 2021
Genre : Mathematics
Kind : eBook
Book Rating : /5 ( reviews)

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Book Synopsis Robust Machine Learning and the Application to Lane Change Decision Making Prediction by : Hua Huang

Download or read book Robust Machine Learning and the Application to Lane Change Decision Making Prediction written by Hua Huang. This book was released on 2021. Available in PDF, EPUB and Kindle. Book excerpt: In the foreseeable future, autonomous vehicles will have to drive alongside human drivers. In the absence of vehicle-to-vehicle communication, they will have to be able to predict the other road users' intentions. Equally importantly, they will also need to behave like a typical human driver such that other road users can infer their actions. It is critical to be able to learn a human driver's mental model and integrate it into the planning and control algorithm. In this dissertation, we first present a robust method to predict lane changes as cooperative or adversarial. For that, we first introduce a method to annotate lane changes as cooperative and adversarial based on the entire lane change trajectory. We then propose to train a specially designed neural network to predict the lane change label before the lane change has occurred and quantify the prediction uncertainty. The model will make lane change decisions following human drivers' driving habits and preferences, id est, it will only change lanes when the surrounding traffic is considered to be appropriate for the majority of human drivers. It will also recognize unseen novel samples and output low prediction confidence correspondingly, to alert the driver to take control or take conservative actions in such cases.