This paper introduces a method to compute a sparse lattice planner control set that is suited to a particular task by learning from a representative dataset of vehicle paths. To do this, we use a scoring measure similar to the Frechet distance and propose an algorithm for evaluating a given control set according to the scoring measure. Control actions are then selected from a dense control set according to an objective function that rewards improvements in matching the dataset while also encouraging sparsity. This method is evaluated across several experiments involving real and synthetic datasets, and it is shown to generate smaller control sets when compared to the previous state-of-the-art lattice control set computation technique, with these smaller control sets maintaining a high degree of manoeuvrability in the required task. This results in a planning time speedup of up to 4.31x when using the learned control set over the state-of-the-art computed control set. In addition, we show the learned control sets are better able to capture the driving style of the dataset in terms of path curvature.
To optimize a planner, we require a measure of similarity between two paths. This has been discussed in the field of path clustering @cite_4 , where measures such as the pointwise Euclidean distance, Hausdorff distance @cite_25 , the Longest Common Sub-Sequence, and the Fr 'echet distance @cite_16 are commonly used.
@cite_16 @cite_4 @cite_25
2009752994 195533127 2147880780 2106659141
This paper proposes a new trajectory clustering scheme for objects moving on road networks. A trajectory on road networks can be defined as a sequence of road segments a moving object has passed by. We first propose a similarity measurement scheme that judges the degree of similarity by considering the total length of matched road segments. Then, we propose a new clustering algorithm based on such similarity measurement criteria by modifying and adjusting the FastMap and hierarchical clustering schemes. To evaluate the performance of the proposed clustering scheme, we also develop a trajectory generator considering the fact that most objects tend to move from the starting point to the destination point along their shortest path. The performance result shows that our scheme has the accuracy of over 95 . Distance or similarity measures are essential to solve many pattern recognition problems such as classification, clustering, and retrieval problems. Various distance similarity measures that are applicable to compare two probability density functions, pdf in short, are reviewed and categorized in both syntactic and semantic relationships. A correlation coefficient and a hierarchical clustering technique are adopted to reveal similarities among numerous distance similarity measures. We investigate techniques for analysis and retrieval of object trajectories in two or three dimensional space. Such data usually contain a large amount of noise, that has made previously used metrics fail. Therefore, we formalize non-metric similarity functions based on the longest common subsequence (LCSS), which are very robust to noise and furthermore provide an intuitive notion of similarity between trajectories by giving more weight to similar portions of the sequences. Stretching of sequences in time is allowed, as well as global translation of the sequences in space. Efficient approximate algorithms that compute these similarity measures are also provided. We compare these new methods to the widely used Euclidean and time warping distance functions (for real and synthetic data) and show the superiority of our approach, especially in the strong presence of noise. We prove a weaker version of the triangle inequality and employ it in an indexing structure to answer nearest neighbor queries. Finally, we present experimental results that validate the accuracy and efficiency of our approach. We address the problem of performing efficient similarity join for large sets of moving objects trajectories. Unlike previous approaches which use a dedicated index in a transformed space, our premise is that in many applications of location-based services, the trajectories are already indexed in their native space, in order to facilitate the processing of common spatio-temporal queries, e.g., range, nearest neighbor etc. We introduce a novel distance measure adapted from the classic Frechet distance, which can be naturally extended to support lower upper bounding using the underlying indices of moving object databases in the native space. This, in turn, enables efficient implementation of various trajectory similarity joins. We report on extensive experiments demonstrating that our methodology provides performance speed-up of trajectory similarity join by more than 50 on average, while maintaining effectiveness comparable to the well-known approaches for identifying trajectory similarity based on time-series analysis.