Performance evaluation of cost-based vs. fuzzy-logic-based prediction approaches in PRIDE

Z. Kootbally, C. Schlenoff, R. Madhavan, S. Foufou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

PRIDE (PRediction In Dynamic Environments) is a hierarchical multi-resolutional framework for moving object prediction. PRIDE incorporates multiple prediction algorithms into a single, unifying framework. To date, we have applied this framework to predict the future location of autonomous vehicles during on-road driving. In this paper, we describe two different approaches to compute long-term predictions (on the order of seconds into the future) within PRIDE. The first is a cost-based approach that uses a discretized set of vehicle motions and costs associated with states and actions to compute probabilities of vehicle motion. The cost-based approach is the first prediction approach we have been using within PRIDE. The second is a fuzzy-logic-based approach that deals with the pervasive presence of uncertainty in the environment to negotiate complex traffic situations. Using the high-fidelity physics-based framework for the Unified System for Automation and Robot Simulation (USARSim), we will compare the performance of the two approaches in different driving situations at traffic intersections. Consequently, we will show how the two approaches complement each other and how their combination performs better than the cost-based approach only.

Original languageEnglish (US)
Title of host publicationUnmanned Systems Technology X
DOIs
StatePublished - 2008
EventUnmanned Systems Technology X - Orlando, FL, United States
Duration: Mar 17 2008Mar 20 2008

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume6962
ISSN (Print)0277-786X

Other

OtherUnmanned Systems Technology X
CountryUnited States
CityOrlando, FL
Period3/17/083/20/08

Keywords

  • 4D/RCS
  • Autonomous vehicles
  • Cost-based approach
  • Fuzzy control
  • Fuzzy sets
  • Fuzzy-logic-based approach
  • Moving object prediction
  • PRIDE

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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