CMetric: A Driving Behavior Measure Using Centrality Functions


We present a new measure, CMetric, to classify driver behaviors using centrality functions. Our formulation combines concepts from computational graph theory and social traffic psychology to quantify and classify the behavior of human drivers. CMetric is used to compute the probability of a vehicle executing a driving style, as well as the intensity used to execute the style. Our approach is designed for realtime autonomous driving applications, where the trajectory of each vehicle or road-agent is extracted from a video. We compute a dynamic geometric graph (DGG) based on the positions and proximity of the road-agents and centrality functions corresponding to closeness and degree. These functions are used to compute the CMetric based on style likelihood and style intensity estimates. Our approach is general and makes no assumption about traffic density, heterogeneity, or how driving behaviors change over time. We present efficient techniques to compute CMetric and demonstrate its performance on well-known autonomous driving datasets. We evaluate the accuracy of CMetric and compare with ground truth behavior labels and with that of a human observer by performing a user study over over a long vehicle trajectory.

International Conference on Intelligent Robots and Systems, 2020