Learning-based approach for online lane change intention prediction

Abstract

Predicting driver behavior is a key component for Advanced Driver Assistance Systems (ADAS). In this paper, a novel approach based on Support Vector Machine and Bayesian filtering is proposed for online lane change intention prediction. The approach uses the multiclass probabilistic outputs of the Support Vector Machine as an input to the Bayesian filter, and the output of the Bayesian filter is used for the final prediction of lane changes. A lane tracker integrated in a passenger vehicle is used for real-world data collection for the purpose of training and testing. Data from different drivers on different highways were used to evaluate the robustness of the approach. The results demonstrate that the proposed approach is able to predict driver intention to change lanes on average 1.3 seconds in advance, with a maximum prediction horizon of 3.29 seconds.