Drivers' lane-changing behavior is limited by road-ways, adjacent traffic, etc. A lane-changing maneuver consists of whether, when, and how to change lanes. This paper proposes a lane-changing decision-making framework that considers these three processes. This framework incorporates lane-changing intention identification, generation, and planning. First, the Gaussian Hidden Markov model identified traffic vehicles' lane-changing intentions. This determines the ego vehicle's lane-changing intention and longitudinal safety corridor. The ego vehicle's lane-changing trajectory is designed using a fifth-degree polynomial to assure continuous acceleration and zero acceleration at the start and end positions. Finally, simulation findings reveal that the proposed lane change decision-making framework can predict traffic vehicles' lane-changing intentions 1.7 seconds (on average) in advance. Like a driver, the proposed method can make lane-changing decisions in advance.


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    Title :

    A Novel Decision-making Framework for Lane Change Considering Intentions of Traffic Participants


    Contributors:
    Li, Bin (author) / Zhang, Lin (author) / Meng, Qiang (author) / Pan, Wei (author)


    Publication date :

    2022-10-28


    Size :

    2378514 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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