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A Novel Lane Change Decision-Making Model of Autonomous Vehicle Based on Support Vector Machine
Open accessAbstract
Autonomous driving is a crucial issue of the automobile industry, and research on lane change is its significant part. Previous works on the autonomous vehicle lane change mainly focused on lane change path planning and path tracking, but autonomous vehicle lane change decision making is rarely mentioned. Therefore, this paper establishes an autonomous lane change decision-making model based on benefit, safety, and tolerance by analyzing the factors of the autonomous vehicle lane change. Then, because of the multi-parameter and non-linearity of the autonomous lane change decision-making process, a support vector machine (SVM) algorithm with the Bayesian parameters optimization is adopted to solve this problem. Finally, we compare a lane change model based on rules with the proposed SVM model in the test set, and results illustrate that the SVM model performs better than the rule-based lane change model. Moreover, the real car experiment is carried out to verify the effectiveness of the decision model.
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Cites
Preparing a nation for autonomous vehicles: opportunities, barriers and policy recommendations
Fagnant, D. J., & Kockelman, K. (2015) · Transportation Research Part A: Policy and Practice · doi:10.1016/j.tra.2015.04.003 · Cited by 3,214
User preferences regarding autonomous vehicles
Haboucha, C. J., Ishaq, R., & Shiftan, Y. (2017) · Transportation Research Part C: Emerging Technologies · doi:10.1016/j.trc.2017.01.010 · Cited by 996
Cited by
Human-Like Decision Making for Autonomous Driving: A Noncooperative Game Theoretic Approach
Hang, P., Lv, C., Xing, Y., Huang, C., & Hu, Z. (2021) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2020.3036984 · Cited by 357
Metadata
- Authors
- Liu, Y., Wang, X., Li, L., Cheng, S., & Chen, Z.
- Venue
- IEEE Access
- Published
- 2019
- Volume
- 7
- Pages
- 26543-26550
- ISSN
- 2169-3536 (ISSN-L)
- OpenAlex
- W2915916313
- Cited by
- 197
- References
- 2
- FWCI
- 9.16
- Type
- journal article
- Language
- en
- Open access
- gold
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- Liu, Y., Wang, X., Li, L., Cheng, S., & Chen, Z. (2019). A Novel Lane Change Decision-Making Model of Autonomous Vehicle Based on Support Vector Machine. IEEE Access. https://doi.org/10.1109/access.2019.2900416
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