Sep 1, 2026 · cs.ROJ/K move · Enter open · S save
Woong-Chan Byun, Seung-Hyun Kong
CCS Graduate School of Mobility · Korea Advanced Institute of Science and Technology (KAIST) · Daejeon, Republic of Korea, 34051
Early recognition of lane-change intention is essential for proactive decision-making in autonomous driving and advanced driver assistance systems. This paper proposes a Dual Neural-Calibrated Interacting Multiple Model (DNC-IMM) that improves adaptability to driving context while preserving the probabilistic structure and interpretability of a conventional IMM. The proposed method encodes driving-context information, including target-vehicle motion, gaps to surrounding vehicles, and relative velocities, with a neural network that calibrates both the transition-probability matrix and measurement likelihoods. The final intention is determined from the calibrated IMM mode posterior rather than from a separate direct classifier. Experiments on the highD dataset demonstrate that the proposed method reliably recognizes lane-change intentions before lane crossing and provides particularly strong performance at the earlier 2-3 s prediction horizons.