Lane-change detection based on individual driving style

Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


This paper presents a novel method to detect when a vehicle is changing lanes by considering individual driving styles. Some previous works have focused on the relation between lane changes and driving styles; however, the detection method of lane changes while considering driving styles is still not reported. The proposed method extracts a new feature to appropriately describe driving styles based on drivers' risk taking behavior when following the preceding vehicle. Based on the driving style of the target vehicle, performing a lane change is estimated at each time step. The determined driving style is used as input for the lane-change detection method based on the gap acceptance model, and it is integrated with the detection method based on vehicle movements. Experiments are used to demonstrate that the proposed method considerably improves detection performance.

Original languageEnglish
Pages (from-to)1087-1098
Number of pages12
JournalAdvanced Robotics
Issue number20
Publication statusPublished - 2019 Oct 18


  • driving style
  • driving-intention estimation
  • gap acceptance model
  • Lane-change detection


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