Authors: J. Dahl, G. Rodrigues de Campos, J. Fredriksson 

Journal: IEEE Transactions on Intelligent Transportation Systems, 2021

Abstract: Advanced driver assistance systems have been an active research topic for decades, for which many approaches have been developed not only to reduce the number of traffic accidents but also to increase the driver's comfort. Among the many different solutions proposed, learning-based prediction approaches have gained considerable attention in recent years. Within this scope, this work focuses on the implementation aspects of a linear learning-based regression model for detecting unintended lane-departures, where the goal is to achieve a prediction model with good predictive performance while keeping the computational complexity as low as possible. Aspects under consideration include input signal selection and down-sampling. The linear prediction model is analyzed using a real world data set, and benchmarked against a kinematic constant velocity model and a non-linear regression model. The results show that the linear regression model  has a significantly higher prediction performance when compared to a kinematic model. It is also shown that the predictive performance remains comparable to the more complex nonlinear regression model, even though the computational complexity of the linear model is significantly lower.