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IDRES: A rule-based system for driving situation recognition with uncertainty management J.M. Nigro and M. Rombaut

Information Fusion. 패턴인식 시스템응용. IDRES: A rule-based system for driving situation recognition with uncertainty management J.M. Nigro and M. Rombaut. 20070927 Jun Ki Min. OVERVIEW. Experimental Vehicle (EV) Manoeuvre Recognition in Driving Situation Context IDRES System Confidence Evaluation

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IDRES: A rule-based system for driving situation recognition with uncertainty management J.M. Nigro and M. Rombaut

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  1. Information Fusion 패턴인식 시스템응용 IDRES: A rule-based system for driving situation recognition with uncertainty managementJ.M. Nigro and M. Rombaut 20070927 Jun Ki Min

  2. OVERVIEW • Experimental Vehicle (EV) • Manoeuvre Recognition in Driving Situation Context • IDRES System • Confidence Evaluation • Belief Model • Results • Summary

  3. Experimental Vehicle (EV) • Driver’s assistance system must take into account high-level information  Context aware • The intent of the driver: Manoeuvre recognition + Driver behaviour model • IDRES: Intelligent Driving Recognition with Expert System • CASSICE project: Symbolic Characterization of Driving Situations • Determines the current manoeuvre performed by the driver • Rule-based system managing the uncertainty of data

  4. Manoeuvre Recognition in Driving Situation Context • The context of the driving situation • The state of the vehicle (speed, acceleration) • The position of the vehicle (on the road, in the lane) • The type of static environment (highway, number of lanes) • The state of the dynamic environment (the other vehicles) • Manoeuvre Mj is an ordered sequence of states si • Mj=(s1, s2, …, sN) • State: Combination of conditions • Conditions: Evaluated from the sensors of the EV • Overtaking manoeuvre

  5. IDRES System • Advice level • Uses the data from the sensorsto determine the states • Recognizes, at any time, whichstates are in progress • Sequence recognition level • Uses all the states found by theadvice-rules and the previous results • Selects the sequence that matchone of the priori defined sequence • Three principles • Respect the order of thestates • Some states may not berecognized • Previous state: Invalid,Following state: Not yet valid Persist the previous state

  6. IDRES System Manoeuvre Recognition with IDRES

  7. IDRES System Confidence Evaluation • Numerical values of the inputs  logical (symbolic) values • Model the confidence of the logical data by a belief function • A and B

  8. IDRES System Belief Model • State s is associated with a distribution of mass ms • “Waiting for overtaking” • Modified rules

  9. Results: End of Passing • The rule End of Passing (s7) • c1 (Speed of EV > Speed of TV) • c2 (EV on the left lane and TV on the right lane) • c3 (TV behind EV) • At time p2, IDRES is not certain thatEV manoeuvre is End of passing • EV and TV are on the same lane certain: mc2(c2) = 1 • EV is faster than TV certain: mc1(c1) = 1 • TV is behind EV ? not certain: mc3(c3) = 0.5 and mc3(c3Uc3)= 0.5

  10. Results: Overtaking Recognition

  11. Summary • Recognition of a sequence of states from numerical rough data taken from a real dynamic system • Driving manoeuvre • IDRES system • Two levels • Uncertainty management

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