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Summary
. Estimate driving-intention first, predict trajectory based on intention next, update driving-intention based on trajectory finally.
. update procedure reduces false alarm
1. Input
. Distance to centerline, lateral velocity, relative distance between target and its neighbors
2. Algorithm
[Main algorithm]
. driving intention is first estimated. Four classes as follows.
[driving intention]
. Future trajectory is predicted based on the estimated intention and planning method.
. Collision check and re-planning
. update the driving intention
3. Results
. Collect data using Ibeo Lux sensor
