Track Fusion and Behavioral Reasoning for Moving Vehicles Based on Curvilinear Coordinates of Roadway Geometries

This paper presents track fusion and behavioral reasoning for moving vehicles in close proximity based on the curvilinear coordinates of roadway geometries. The inferred track and behavior of other vehicles can be used to perform safe actions in intelligent vehicle applications and autonomous driving. Vehicle detections from multiple perception sensors are integrated using track-to-track (T2T) fusion based on a cross-covariance method, and this T2T fusion is pet-forum' with curvilinear coordinates created using prebuilt roadway geometry on a digital map. The coordinate conversion to curvilinear space has many benefits for behavioral reasoning and tracking, such as constraining problem spaces and dimensions. A machine learning classifier based on a support vector machine is then applied to deduce the behavior of nearby vehicles. The algorithms presented here for track fusion and behavioral reasoning based on curvilinear coordinates have been verified through experiments in various real traffic scenarios.