Performance Evaluation of a Maneuver Classification Algorithm Using Different Motion Models in a Multi-Model Framework

Abstract

Environment perception is one of the major challenges in the vehicle industry nowadays, as acknowledging the intentions of the surrounding traffic participants can profoundly decrease the occurrence of accidents. Consequently, this paper focuses on comparing different motion models, acknowledging their role in the performance of maneuver classification. In particular, this paper proposes utilizing the Interacting Multiple Model framework complemented with constrained Kalman filtering in this domain that enables the comparisons of the different motions models’ accuracy. The performance of the proposed method with different motion models is thoroughly evaluated in a simulation environment, including an observer and observed vehicle.

Keywords

• filtering
• constraints
• IMM
• maneuver targeting
• maneuver classification
• motion models