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Table 1 Comparative review of works on maneuver intention estimation at road intersections

From: A survey on motion prediction and risk assessment for intelligent vehicles

  Estimated maneuvers Estimation method Features
Greene et al. [[39]] Stop, go straight, left turn, right turn Heuristics Positive, velocity, state of the nearby traffic light
Tamke et al. [[48]] Go straight, left turn, right turn Heuristics Turn signal
Aoude et al. [[42]] Safe errant SVM-BF Distance to intersection, speed, longitudinal
    acceleration
Kumar et al. [[43]] Lane keeping, lane change left, SVM-BF Distance to lane center, steering angle
  lane change right   
Mandalia et al. [[44]] Lane keeping, lane change left, SVM Lane position at four different distances
  lane change right   
Morris et al. [[41]] Lane keeping, lane change left, RVM Subset of signals produced by radars,
  lane change right   forward-looking camera, head tracking
    camera, and CAN-bus
Klingelschmitt et al. [[40]] Go straight, turn right, stop Logistic regression Speed, acceleration, distance to intersection
Garcia-Ortiz et al. [[28]] Stopped, brake, keep speed MLP Speed, gas and brake pedal information, distance
    to intersection, state of traffic light
Aoude et al. [[24]] Complaint violating HMM Distance to intersection, speed, longitudinal acceleration
Tay [[25]] Go straight, left turn, right turn Hierarchical Position, speed
   HMM  
Berndt et al. [[45]] Go straight, left turn, right turn HMM Steering angle
Lefevre et al. [[47]] Lane keeping, lane change left, HMM Speed, distance to lane center, orientation,
  lane change right   road curvature, steering angle
Streubel et al. [[46]] Go straight, turn left, turn right HMM Speed, acceleration, yaw rate