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

2. OVERVIEW Experimental Vehicle (EV) Manoeuvre Recognition in Driving Situation Context IDRES System –Confidence Evaluation –Belief Model Results Summary 1

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 2

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 M j is an ordered sequence of states s i –M j =(s 1, s 2, …, s N ) –State: Combination of conditions –Conditions: Evaluated from the sensors of the EV Overtaking manoeuvre 3

5. IDRES System Advice level –Uses the data from the sensors to determine the states –Recognizes, at any time, which states are in progress Sequence recognition level –Uses all the states found by the advice-rules and the previous results –Selects the sequence that match one of the priori defined sequence –Three principles Respect the order of the states Some states may not be recognized Previous state: Invalid, Following state: Not yet valid  Persist the previous state 4

6. Manoeuvre Recognition with IDRES 5 IDRES System

7. Confidence Evaluation Numerical values of the inputs  logical (symbolic) values Model the confidence of the logical data by a belief function A and B 6 IDRES System

8. Belief Model State s is associated with a distribution of mass m s “Waiting for overtaking” Modified rules 7 IDRES System

9. Results: End of Passing The rule End of Passing (s 7 ) –c 1 (Speed of EV > Speed of TV) –c 2 (EV on the left lane and TV on the right lane) –c 3 (TV behind EV) At time p 2, IDRES is not certain that EV manoeuvre is End of passing –EV and TV are on the same lane  certain: m c2 (c 2 ) = 1 –EV is faster than TV  certain: m c1 (c 1 ) = 1 –TV is behind EV ?  not certain: m c3 (c 3 ) = 0.5 and m c3 (c 3 Uc 3 )= 0.5 8

10. Results: Overtaking Recognition 9

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 10