3-D Phase Plots for Driver Modeling
This was a set of experiments in plotting driver data recorded from
Navlab 8 while on a stretch of I-279 in Pittsburgh. The data is
plotted on axes of centerline displacement, vehicle yaw, and vehicle
yaw-rate. The reason for doing this is that the vertices of a cube in
this space have intuitive meanings in terms of driving situation. For
instance, one extremal is if your yawing to the left, have a yaw rate
to the left, and are also displaced to the left. This is either a lane
change, or a ROR situation.
The images below show some data from one person plotted in this
space. An ellipsoid is fitted to the data. I did this originally to
see if it would be possible to distinguish different drivers using
something as simple as this. It's not. The first image just shows the
data plotted along the axes. The second image is a rotated versionn of
the first, in which the two lane changes are easily visible as the
'wings' the extend out of the ellipsoid. The extensions in +/-
yaw_rate are curves.
The goal is to use this as a possible part of driver intention system,
to differentiate between changing lanes and real ror situations.
Parag Batavia, The Robotics Institute, Carnegie Mellon University
parag@ri.cmu.edu
Last modified: Mon Jul 28 13:55:52 EDT 1997