Driving Behavior Prediction Considering Cognitive Prior and Driving Context
Dong Zhou, Hongyi Liu, Huimin Ma, Xiang Wang, Xiaoqin Zhang, Yuhan Dong
Abstract
Driving behavior plays a key role in the interaction between vehicle and driver in transportation systems. Some applications about driving behavior in Advanced Driver Assistance Systems (ADAS) improve driving safety significantly. This paper introduces the driving context and models driving behavior in a combination of cognitive perspective and data-driven perspective. First, we use a cognitive fusion method by adding a delay time module to fuse the environmental information and inside information. To better capture the driving context relationship between outside and inside features, we transfer the behavior prediction task to the sequence labeling task by introducing the visual inertia hypothesis. We propose the Predictive-Bi-LSTM-CRF algorithm which used the Bidirectional Long-Short Term Memory Networks (Bi-LSTM) and Conditional Random Field (CRF) as the loss layer to model the driving behavior. Besides, we define a new comprehensive evaluation metric for the prediction task considering F1-score and the prediction time before maneuver together. Our experiment results achieve the state of art performance on the Brain4Cars dataset and demonstrate the applicability of our theory.