Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by cut-in.To improve the safety of autonomous vehicles in the...Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by cut-in.To improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic participants.The integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and trajectory.The dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference performance.Based on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax function.Finally,the comparative analysis is performed to validate the proposed method using the naturalistic driving data.The results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.展开更多
Data prediction can improve the science of decision-making by making predictions about what happens in daily life based on natural law trends.Back propagation(BP)neural network is a widely used prediction method.To re...Data prediction can improve the science of decision-making by making predictions about what happens in daily life based on natural law trends.Back propagation(BP)neural network is a widely used prediction method.To reduce its probability of falling into local optimum and improve the prediction accuracy,we propose an improved BP neural network prediction method based on a multi-strategy sparrow search algorithm(MSSA).The weights and thresholds of the BP neural network are optimized using the sparrow search algorithm(SSA).Three strategies are designed to improve the SSA to enhance its optimization-seeking ability,leading to the MSSA-BP prediction model.The MSSA algorithm was tested with nine different types of benchmark functions to verify the optimization performance of the algorithm.Two different datasets were selected for comparison experiments on three groups of models.Under the same conditions,the mean absolute error(MAE),root mean square error(RMSE),andmean absolute percentage error(MAPE)of the prediction results of MSSA-BPwere significantly reduced,and the convergence speed was significantly improved.MSSA-BP can effectively improve the prediction accuracy and has certain application value.展开更多
基金supported in part by the Key-Area Researchand Development Program of Guangdong Province(2020B0909050003)the Program of Jiangxi(20204ABC03A13)。
文摘Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by cut-in.To improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic participants.The integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and trajectory.The dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference performance.Based on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax function.Finally,the comparative analysis is performed to validate the proposed method using the naturalistic driving data.The results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.
基金the National Natural Science Foundation of China(Grant No.62162024 and 62162022)Key Projects in Hainan Province(Grant ZDYF2021GXJS003 and Grant ZDYF2020040)the Major science and technology project of Hainan Province(Grant No.ZDKJ2020012).
文摘Data prediction can improve the science of decision-making by making predictions about what happens in daily life based on natural law trends.Back propagation(BP)neural network is a widely used prediction method.To reduce its probability of falling into local optimum and improve the prediction accuracy,we propose an improved BP neural network prediction method based on a multi-strategy sparrow search algorithm(MSSA).The weights and thresholds of the BP neural network are optimized using the sparrow search algorithm(SSA).Three strategies are designed to improve the SSA to enhance its optimization-seeking ability,leading to the MSSA-BP prediction model.The MSSA algorithm was tested with nine different types of benchmark functions to verify the optimization performance of the algorithm.Two different datasets were selected for comparison experiments on three groups of models.Under the same conditions,the mean absolute error(MAE),root mean square error(RMSE),andmean absolute percentage error(MAPE)of the prediction results of MSSA-BPwere significantly reduced,and the convergence speed was significantly improved.MSSA-BP can effectively improve the prediction accuracy and has certain application value.
