Apriaskar, E., Liu, X., Horprasert, A. et al. (1 more author) (2025) Probabilistic estimation of vehicle speed for autonomous vehicles using deep kernel learning. In: 2024 12th International Conference on Control, Mechatronics and Automation (ICCMA). The 12th International Conference on Control, Mechatronics and Automation (ICCMA 2024), 11-13 Nov 2024, London, UK. Institute of Electrical and Electronics Engineers (IEEE) , pp. 23-28. ISBN 979-8-3315-1752-6
Abstract
Perception systems of autonomous vehicles (AVs) play a crucial role in achieving different levels of autonomy and interpreting information from complex traffic environments. The inherent uncertainties are a persistent factor. While some environmental features can be directly measured by certain sensors, measuring accurately the velocity of moving vehicles presents a substantial challenge. To this end, this paper demonstrates the utilisation of a powerful non-parametric method, Gaussian process regression, in combination with a method that leverages deep neural networks, known as Deep Kernel Learning (DKL), to estimate the vehicle speed using other existing data in the simulation that are considered feasible in real-world scenarios. The methodology is experimentally evaluated in a single ring-shaped traffic simulation where an autonomous vehicle (AV) drives together with human-driven vehicles (HDVs). The study reveals that the approach significantly enhances the accuracy and confidence of speed estimation with 64.58% and 50% improvements in the root mean square error (RMSE) for 525 and 3000 training data, respectively. It outperforms the conventional Gaussian processes, which suffer from a large dataset.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2024 The Author(s). Except as otherwise noted, this author-accepted version of a proceedings paper published in 12th International Conference on Control, Mechatronics and Automation (ICCMA) is made available via the University of Sheffield Research Publications and Copyright Policy under the terms of the Creative Commons Attribution 4.0 International License (CC-BY 4.0), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ |
Keywords: | autonomous vehicle; Gaussian processes; speed estimation; deep kernel learning; SUMO |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > School of Electrical and Electronic Engineering |
Funding Information: | Funder Grant number ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL EP/T013265/1 Engineering and Physical Sciences Research Council EP/T013265/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 08 Oct 2024 11:01 |
Last Modified: | 03 Feb 2025 15:34 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Refereed: | Yes |
Identification Number: | 10.1109/ICCMA63715.2024.10843894 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:217491 |