Cut-in scenario prediction for automated vehicles

F. Remmen, Irene Cara, Erwin de Gelder, Dehlia Willemsen

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

16 Citations (Scopus)
4 Downloads (Pure)


Truck platooning is gaining more and more interest thanks to the benefits on improved traffic efficiency, reduced fuel consumption and emissions. To gain these benefits, it typically involves small following distances (0.8 s - 0.3 s). Due to the small following distances, the cut-in manoeuvre of target vehicles becomes safety critical and requires the platooning system to take action as soon as possible. This work shows how machine learning can be used for the prediction of a cut-in manoeuvre of a vehicle, which we refer to as target vehicle, from a host vehicle perspective. A real-life driving experiment was performed to measure several cut-ins that were manually annotated. Measurements are gathered with a lidar installed on the host vehicle and consequently used to train several well-known machine learning algorithms such as Logistic Regression, Random Forest, Support Vector Machine, Adaboost and an Ensemble of the previous models. The Ensemble model achieves the best results. This method is capable of predicting cut-ins prior to their occurrence, with an f 1 score of 62.28 % on the test set. Moreover, over 60% of the cut-ins are correctly predicted more than one second before the corresponding vehicle crosses the lane marker.
Original languageEnglish
Title of host publication2018 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2018
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages7
ISBN (Electronic)9781538635438
ISBN (Print)978-1-5386-3543-8
Publication statusPublished - 31 Oct 2018
Event2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES 2018) - Universidad Carlos III de Madrid - Puerta de Toledo Campus, Madrid, Spain
Duration: 12 Sept 201814 Sept 2018


Conference2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES 2018)
Abbreviated titleICVES2018
Internet address


  • platooning
  • cut-in
  • machine learning
  • predictive modelling


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