A Method for Driving Route Predictions Based on Hidden Markov Model

Algorithm 3

Possible_Routes (an observation sequence ).

Input: An observation sequence .

Output: A set of upcoming vehicle routes’ symbols.

(1)   Ordered Observation Set , ;

(2)   Possible Route Set ;

(3)   Foreach (Observation in )

(4)     if

(5)      /∗   is a set of all of observations in the training set. ∗/

(6)      Insert into ;

(7)     else

(8)      Insert into ;

(9)   int = length of ;

(10)  int = length of ;

(11)   if ()

(12)    ;

(13)   else if ()

(14)     = Viterbi_Route ();

(15)   else if ( and )

(16)    /∗   represents the first element in the set . ∗/

(17)     = Viterbi_Route ();

(18)   else if ()

(19)    Possible_Routes ();

(20)   else if ()

(21)    Possible_Routes ();

(22)   else

(23)    Possible_Routes ();