Real-World Deployment of a Lane Change Prediction Architecture Based on Knowledge Graph Embeddings and Bayesian Inference

TL;DR

This paper presents a real-world lane change prediction system using Knowledge Graph Embeddings and Bayesian inference, validated on actual hardware to enhance driving safety.

Contribution

It bridges the gap between simulation-based research and on-road deployment by demonstrating a practical, hardware-validated lane change prediction architecture.

Findings

Predicts lane changes 3-4 seconds in advance

Uses a perception module to convert environment data into linguistic categories

Employs a pretrained KGE and Bayesian inference model for prediction

Abstract

Research on lane change prediction has gained a lot of momentum in the last couple of years. However, most research is confined to simulation or results obtained from datasets, leaving a gap between algorithmic advances and on-road deployment. This work closes that gap by demonstrating, on real hardware, a lane-change prediction system based on Knowledge Graph Embeddings (KGEs) and Bayesian inference. Moreover, the ego-vehicle employs a longitudinal braking action to ensure the safety of both itself and the surrounding vehicles. Our architecture consists of two modules: (i) a perception module that senses the environment, derives input numerical features, and converts them into linguistic categories; and communicates them to the prediction module; (ii) a pretrained prediction module that executes a KGE and Bayesian inference model to anticipate the target vehicle's maneuver and transforms the prediction into longitudinal braking action. Real-world hardware experimental validation demonstrates that our prediction system anticipates the target vehicle's lane change three to four seconds in advance, providing the ego vehicle sufficient time to react and allowing the target vehicle to make the lane change safely.