System and method for providing driver behavior classification at intersections and validation on large naturalistic data sets

• US 9,129,519 B2
• Filed: 07/30/2013
• Issued: 09/08/2015
• Est. Priority Date: 07/30/2012
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company), US Department of The Navy (U.S. Department Of Defense)
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Aoude, Georges, Desaraju, Vishnu Rajeswar, How, Jonathan P., Pilutti, Thomas Edward
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): INGRAM, THOMAS P
• Application Number:
  US13/954,954
• Publication Number:
  US 20140032089A1
• Time in Patent Office: 770 Days
• Field of Search: 701/23, 701/70, 701/117, 701/301, 340/438, 348/149
• US Class Current: 1/1
• CPC Class Codes: G08G 1/00 Traffic control systems for road vehicles arrangement of road signs or traffic signals E01F9/00 ; automatic vehicle control B62D
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system and method for predicting whether a vehicle will come to a stop at an intersection is provided. Generally, the system contains a memory; and a processor configured by the memory to perform the steps of: generating a prediction of whether the vehicle will or will not stop at the intersection before a first time based on vehicle data measured during a first time window; and at a second time, the second time being before the first time and approximately equal to a time at which the time window ends, providing an indication that the vehicle will not stop at the intersection before the first time based upon the prediction, wherein generating the prediction comprises using a classification model, the classification model configured to indicate whether the vehicle will or will not stop at the intersection before the first time based on a plurality of input parameters, and wherein the plurality of input parameters are selected from the group consisting of speed, acceleration, and distance to the intersection.

Claims

1. A warning system configured to predict whether a vehicle will come to a stop at an intersection before a first time, comprising:

at least one sensor configured to measure vehicle data of the vehicle, wherein the vehicle data comprises;

a speed of the vehicle,

an acceleration of the vehicle and

a distance from the vehicle to the intersection; and

a classifier comprising at least one processor coupled to the at least one sensor configured to;

receive vehicle data measured by the at least one sensor at a plurality of times during a time window, wherein the vehicle data comprises a plurality of measurements of each of;

the speed of the vehicle;

the acceleration of the vehicle; and

the distance from the vehicle to the intersection;

generate a prediction of whether the vehicle will or will not stop at the intersection before the first time based on the vehicle data measured during the time window; and

at a second time, the second time being before the first time and approximately equal to a time at which the time window ends so that the time window extends from the second time to the first time, provide an indication that the vehicle will not stop at the intersection before the first time based upon the prediction; and

an output device for providing a user of the warning system with the production of whether a vehicle will not come to a stop at the intersection before the first time,

wherein generating the prediction comprises using a classification model, the classification model configured to indicate whether the vehicle will or will not stop at the intersection before the first time based on a plurality of input parameters,

wherein the plurality of input parameters comprises a speed, an acceleration and a distance to an intersection, and

wherein generating comprises determining the means and variances of the last K measurements of the speed of the vehicle, acceleration of the vehicle, and distance from the vehicle to the intersection.

2. The system of claim 1, wherein the classifier is a component of a vehicle based system.

3. The system of claim 1, wherein the classifier is implemented on a portable computing device.

4. The system of claim 1, wherein the classifier is a component of an infrastructure based system.

5. The system of claim 1, wherein the at least one sensor is onboard the vehicle.

6. A classifier for predicting whether a vehicle will come to a stop at an intersection before a first time, wherein the classifier comprises:

a memory and

a processor configured by the memory to perform the steps of;

generating a prediction of whether the vehicle will or will not stop at the intersection before the first time based on a plurality of vehicle data measurements measured during a time window; and

at a second time, the second time being before the first time and approximately equal to a time at which the time window ends so that the time window extends from the second time to the first time, providing an indication that the vehicle will not stop at the intersection before the first time based upon the prediction,

wherein generating the prediction comprises using a classification model, the classification model configured to indicate whether the vehicle will or will not stop at the intersection before the first time based on a plurality of input parameters,

wherein the plurality of input parameters are selected from the group consisting of speed, acceleration, and distance to the intersection, and

wherein generating comprises determining the means and variances of the last K measurements of the speed of the vehicle, acceleration of the vehicle, and distance from the vehicle to the intersection.

7. The classifier of claim 6, wherein the classifier is a component of a vehicle based system.

8. The system of claim 6, wherein the classifier is implemented on a portable computing device.

9. The classifier of claim 6, wherein the classifier is a component of an infrastructure based system.

10. The classifier of claim 6, wherein the plurality of input parameters are produced by at least one onboard sensor.

11. The classifier of claim 6, wherein the plurality of vehicle data measurements measured during the time window comprise approximately 5 to 15 observations sampled at 10 to 20 Hz.

12. The classifier of claim 6, wherein the plurality of vehicle data measurements measured during the time window comprise approximately 10 to 20 observations sampled at 10 to 20 Hz.

13. A method of producing a classification model with a classifier for predicting whether a vehicle will stop at an intersection before a signal at the intersection indicating a stopping condition is presented, comprising:

obtaining vehicle data for a plurality of vehicles, the vehicle data for at least a first vehicle comprising;

an indication of whether the first vehicle stopped at the intersection before a first signal indicating a stopping condition was presented at the intersection; and

a plurality of values measured at a plurality of times during a time window prior to the first signal indicating the stopping condition, the plurality of values comprising a plurality of each of;

a speed of the first vehicle;

an acceleration of the first vehicle; and

a distance from the first vehicle to the intersection;

training a classification algorithm to, based on a plurality of inputs, generate a probability that a vehicle will stop at the intersection before a signal at the intersection indicating a stopping condition is presented, wherein the plurality of inputs comprises;

the vehicle data for the plurality of vehicles, wherein the vehicle data comprises means and variances of the last K measurements of the speed of a vehicle, acceleration of the vehicle, and distance of the vehicle to the intersection; and

the duration of the time window;

combining the trained classification algorithm with a probabilistic classifier to produce a classification model, wherein the probabilistic classifier determines whether a vehicle will or will not stop at the intersection before a signal at the intersection indicating a stopping condition is presented based on a respective probability for the vehicle produced by the classification algorithm; and

outputting whether the vehicle will stop at an intersection.

14. The method of claim 13, wherein the trained classification algorithm comprises a discriminative approach.

15. The method of claim 14, wherein the plurality of values measured at a plurality of times during a time window comprise approximately 5 to 15 observations sampled at 10 to 20 Hz.

16. The method of claim 13, wherein the trained classification algorithm comprises a generative approach.

17. The method of claim 16, wherein the plurality of values measured at a plurality of times during a time window comprise approximately 10 to 20 observations sampled at 10 to 20 Hz.