Speed Optimization Algorithm based on Deterministic Markov Decision Process for Automated Highway Merge

This study presents a robust optimization algorithm for automated highway merge. The merging scenario is one of the challenging scenes in automated driving, because it requires adjusting ego vehicle's speed to match other vehicles before reaching the end point. Then, we model the speed planning problem as a deterministic Markov decision process. The proposed scheme is able to compute each state value of the process and reliably derive the optimal sequence of actions. In our approach, we adopt jerk as the action of the process to prevent a sudden change of acceleration. However, since this expands the state space, we also consider ways to achieve a real-time operation. We compared our scheme with a simple algorithm with the Intelligent Driver Model. We not only evaluated the scheme in a simulation environment but also conduct a real world testing.

Evaluation of soccer team defense based on prediction models of ball recovery and being attacked

With the development of measurement technology, data on the movements of actual games in various sports are available and are expected to be used for planning and evaluating the tactics and strategy. In particular, defense in team sports is generally difficult to be evaluated because of the lack of statistical data. Conventional evaluation methods based on predictions of scores are considered unreliable and predict rare events throughout the entire game, and it is difficult to evaluate various plays leading up to a score. On the other hand, evaluation methods based on certain plays that lead to scoring and dominant regions are sometimes unsuitable to evaluate the performance (e.g., goals scored) of players and teams. In this study, we propose a method to evaluate team defense from a comprehensive perspective related to team performance based on the prediction of ball recovery and being attacked, which occur more frequently than goals, using player actions and positional data of all players and the ball. Using data from 45 soccer matches, we examined the relationship between the proposed index and team performance in actual matches and throughout a season. Results show that the proposed classifiers more accurately predicted the true events than the existing classifiers which were based on rare events (i.e., goals). Also, the proposed index had a moderate correlation with the long-term outcomes of the season. These results suggest that the proposed index might be a more reliable indicator rather than winning or losing with the inclusion of accidental factors.