Lane Change Intention Classification of Surrounding Vehicles Utilizing Open Set Recognition

Abstract

This paper proposes a classification algorithm utilizing an open set recognition concept to conservatively detect lane change intention of surrounding vehicles. Conservatively predicting the lane change intention of the surrounding vehicles is needed to improve adaptive cruise control (ACC) performance and avoid possible accidents. However, existing machine learning can make incorrect decisions due to information not included in the training data set or confused data even with probability. To cope with this problem, we present a classification algorithm using a multi-class support vector machine applying an open set recognition concept to detect the surrounding vehicles’ lane change intentions. Feature vectors are constructed from lateral information obtained by a Kalman filter using only radar and in-vehicle sensors. The open set recognition concept is adapted using Meta-Recognition based on binary classifiers scores. Furthermore, we analyze lateral information where an object vehicle changes lanes. From experimental results, we observe that the proposed system conservatively deals with wrong decisions and detects and cancels detecting the closest in-path vehicle (CIPV) earlier with average times of 1.4 sec and 0.4 sec compared with a commercial radar system, respectively.