Systematic Evaluation of Applying Space-Filling Curves to Automotive Maneuver Detection

Abstract: Identifying driving maneuvers plays an essential role on-board vehicles to monitor driving and driver states, as well as off-board to train and evaluate machine learning algorithms for automated driving for example. Maneuvers can be characterized by vehicle kinematics or data from its surroundings including other traffic participants. Extracting relevant maneuvers therefore requires analyzing time-series of (i) structured, multi-dimensional kinematic data, and (ii) unstructured, large data samples for video, radar, or LiDAR sensors. However, such data analysis requires scalable and computationally efficient approaches, especially for non-annotated data. In this paper, we are presenting a maneuver detection approach based on two variants of space-filling curves (Z-order and Hilbert) to detect maneuvers when passing roundabouts that do not use GPS data. We systematically evaluate their respective performance by including permutations of selections of kinematic signals at varying frequencies and compare them with two alternative baselines: All manually identified roundabouts, and roundabouts that are marked by geofences. We find that encoding just longitudinal and lateral accelerations sampled at 10Hz using a Hilbert space-filling curve is already successfully identifying roundabout maneuvers, which allows to avoid the use of potentially sensitive signals such as GPS locations to comply with data protection and privacy regulations like GDPR.