Driver lane change intention inference using machine learning methods.

Lane changing manoeuvre on highway is a highly interactive task for human drivers. The intelligent vehicles and the advanced driver assistance systems (ADAS) need to have proper awareness of the traffic context as well as the driver. The ADAS also need to understand the driver potential intent correctly since it shares the control authority with the human driver. This study provides a research on the driver intention inference, particular focus on the lane change manoeuvre on highways. This report is organised in a paper basis, where each chapter corresponding to a publication, which is submitted or to be submitted. Part Ⅰ introduce the motivation and general methodology framework for this thesis. Part Ⅱ includes the literature survey and the state-of-art of driver intention inference. Part Ⅲ contains the techniques for traffic context perception that focus on the lane detection. A literature review on lane detection techniques and its integration with parallel driving framework is proposed. Next, a novel integrated lane detection system is designed. Part Ⅳ contains two parts, which provides the driver behaviour monitoring system for normal driving and secondary tasks detection. The first part is based on the conventional feature selection methods while the second part introduces an end-to-end deep learning framework. The design and analysis of driver lane change intention inference system for the lane change manoeuvre is proposed in Part Ⅴ. Finally, discussions and conclusions are made in Part Ⅵ. A major contribution of this project is to propose novel algorithms which accurately model the driver intention inference process. Lane change intention will be recognised based on machine learning (ML) methods due to its good reasoning and generalizing characteristics. Sensors in the vehicle are used to capture context traffic information, vehicle dynamics, and driver behaviours information. Machine learning and image processing are the techniques to recognise human driver behaviour.PhD in Transpor

Seven Computations of the Social Brain

The social environment presents the human brain with the most complex of information processing demands. The computations that the brain must perform occur in parallel, combine social and nonsocial cues, produce verbal and non-verbal signals, and involve multiple cognitive systems; including memory, attention, emotion, learning. This occurs dynamically and at timescales ranging from milliseconds to years. Here, we propose that during social interactions, seven core operations interact to underwrite coherent social functioning; these operations accumulate evidence efficiently – from multiple modalities – when inferring what to do next. We deconstruct the social brain and outline the key components entailed for successful human social interaction. These include (1) social perception; (2) social inferences, such as mentalizing; (3) social learning; (4) social signaling through verbal and non-verbal cues; (5) social drives (e.g., how to increase one’s status); (6) determining the social identity of agents, including oneself; and (7) minimizing uncertainty within the current social context by integrating sensory signals and inferences. We argue that while it is important to examine these distinct aspects of social inference, to understand the true nature of the human social brain, we must also explain how the brain integrates information from the social world

Deep Learning-based Driver Behavior Modeling and Analysis

Driving safety continues receiving widespread attention from car designers, safety regulators, and automotive research community as driving accidents due to driver distraction or fatigue have increased drastically over the years. In the past decades, there has been a remarkable push towards designing and developing new driver assistance systems with much better recognition and prediction capabilities. Equipped with various sensory systems, these Advanced Driver Assistance Systems (ADAS) are able to accurately perceive information on road conditions, predict traffic situations, estimate driving risks, and provide drivers with imminent warnings and visual assistance. In this thesis, we focus on two main aspects of driver behavior modeling in the design of new generation of ADAS. We first aim at improving the generalization ability of driver distraction recognition systems to diverse driving scenarios using the latest tools of machine learning and connectionist modeling, namely deep learning. To this end, we collect a large dataset of images on various driving situations of drivers from the Internet. Then we introduce Generative Adversarial Networks (GANs) as a data augmentation tool to enhance detection accuracy. A novel driver monitoring system is also introduced. This monitoring system combines multi-information resources, including a driver distraction recognition system, to assess the danger levels of driving situations. Moreover, this thesis proposes a multi-modal system for distraction recognition under various lighting conditions and presents a new Convolutional Neural Network (CNN) architecture, which can operate real-time on a resources-limited computational platform. The new CNN is built upon a novel network bottleneck of Depthwise Separable Convolution layers. The second part of this thesis focuses on driver maneuver prediction, which infers the direction a driver will turn to before a green traffic light is on and predicts accurately whether or not he/she will change the current driving lane. Here, a new method to label driving maneuver records is proposed, by which driving feature sequences for the training of prediction systems are more closely related to their labels. To this end, a new prediction system, which is based on Quasi-Recurrent Neural Networks, is introduced. In addition, and as an application of maneuver prediction, a novel driving proficiency assessment method is proposed. This method exploits the generalization abilities of different maneuver prediction systems to estimate drivers' driving abilities, and it demonstrates several advantages against existing assessment methods. In conjunction with the theoretical contribution, a series of comprehensive experiments are conducted, and the proposed methods are assessed against state-of-the-art works. The analysis of experimental results shows the improvement of results as compared with existing techniques

How does rumination impact cognition? A first mechanistic model.

Rumination is a process of uncontrolled, narrowly-foused neg- ative thinking that is often self-referential, and that is a hall- mark of depression. Despite its importance, little is known about its cognitive mechanisms. Rumination can be thought of as a specific, constrained form of mind-wandering. Here, we introduce a cognitive model of rumination that we devel- oped on the basis of our existing model of mind-wandering. The rumination model implements the hypothesis that rumina- tion is caused by maladaptive habits of thought. These habits of thought are modelled by adjusting the number of memory chunks and their associative structure, which changes the se- quence of memories that are retrieved during mind-wandering, such that during rumination the same set of negative memo- ries is retrieved repeatedly. The implementation of habits of thought was guided by empirical data from an experience sam- pling study in healthy and depressed participants. On the ba- sis of this empirically-derived memory structure, our model naturally predicts the declines in cognitive task performance that are typically observed in depressed patients. This study demonstrates how we can use cognitive models to better un- derstand the cognitive mechanisms underlying rumination and depression

A computational model of focused attention meditation and its transfer to a sustained attention task

Although meditation and mindfulness practices are widely discussed and studied more and more in the scientific literature, there is little theory about the cognitive mechanisms that comprise it. Here we begin to develop such a theory by creating a computational cognitive model of a particular type of meditation: focused attention mediation. This model was created within Prims, a cognitive architecture similar to and based on ACT-R, which enables us to make predictions about the cognitive tasks that meditation experience may affect. We implemented a model based on an extensive literature review of how the meditation experience unfolds over time. We then subjected the Prims model to a session of the Sustained Reaction to Response Task, a task typically used to study sustained attention, a faculty that may be trained with meditation practice. Analyses revealed that the model was significantly more sensitive to detecting targets and non-targets after the meditation practice than before. These results agree with empirical findings of a longitudinal study conducted in 2010. These results suggest that our approach to modeling meditation and its effects of cognition is feasible

How does rumination impact cognition? A first mechanistic model.

Rumination is a process of uncontrolled, narrowly-foused neg- ative thinking that is often self-referential, and that is a hall- mark of depression. Despite its importance, little is known about its cognitive mechanisms. Rumination can be thought of as a specific, constrained form of mind-wandering. Here, we introduce a cognitive model of rumination that we devel- oped on the basis of our existing model of mind-wandering. The rumination model implements the hypothesis that rumina- tion is caused by maladaptive habits of thought. These habits of thought are modelled by adjusting the number of memory chunks and their associative structure, which changes the se- quence of memories that are retrieved during mind-wandering, such that during rumination the same set of negative memo- ries is retrieved repeatedly. The implementation of habits of thought was guided by empirical data from an experience sam- pling study in healthy and depressed participants. On the ba- sis of this empirically-derived memory structure, our model naturally predicts the declines in cognitive task performance that are typically observed in depressed patients. This study demonstrates how we can use cognitive models to better un- derstand the cognitive mechanisms underlying rumination and depression