Reasonable lane-changing decision-making strategy is an important part of developing automated vehicles. Aiming at the problem that traditional lane-changing decision-making only considers the driving status of adjacent vehicles, this study proposes a lane-changing decision-making model based on the lane attractiveness index. The lane-level attractiveness index is constructed based on the information on adjacent vehicles and a larger range of surrounding vehicles, and the constraints of lane-changing feasibility factors and risk factors are added to ensure the safety of lane-changing decisions. The simulation results show that the proposed lane-changing decision-making model is consistent with the actual behavioral decisions extracted in the highD dataset and is validated in a basic driving scenario.


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    Title :

    Lane-Changing Decision-Making Model for Automated Vehicles Based on A Novel Lane Attractiveness Index


    Contributors:
    He, Yu (author) / Xiong, Xiaoxia (author)


    Publication date :

    2023-10-13


    Size :

    1535568 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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