تقرير
Modeling the Lane-Change Reactions to Merging Vehicles for Highway On-Ramp Simulations
| العنوان: | Modeling the Lane-Change Reactions to Merging Vehicles for Highway On-Ramp Simulations |
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| المؤلفون: | Holley, Dustin, Dsa, Jovin, Mahjoub, Hossein Nourkhiz, Ali, Gibran, Naes, Tyler, Moradi-Pari, Ehsan, Kallepalli, Pawan Sai |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control |
| الوصف: | Enhancing simulation environments to replicate real-world driver behavior is essential for developing Autonomous Vehicle technology. While some previous works have studied the yielding reaction of lag vehicles in response to a merging car at highway on-ramps, the possible lane-change reaction of the lag car has not been widely studied. In this work we aim to improve the simulation of the highway merge scenario by including the lane-change reaction in addition to yielding behavior of main-lane lag vehicles, and we evaluate two different models for their ability to capture this reactive lane-change behavior. To tune the payoff functions of these models, a novel naturalistic dataset was collected on U.S. highways that provided several hours of merge-specific data to learn the lane change behavior of U.S. drivers. To make sure that we are collecting a representative set of different U.S. highway geometries in our data, we surveyed 50,000 U.S. highway on-ramps and then selected eight representative sites. The data were collected using roadside-mounted lidar sensors to capture various merge driver interactions. The models were demonstrated to be configurable for both keep-straight and lane-change behavior. The models were finally integrated into a high-fidelity simulation environment and confirmed to have adequate computation time efficiency for use in large-scale simulations to support autonomous vehicle development. Comment: 10 pages, 7 figures, submitted to IEEE Intelligent Vehicles Symposium (IV) 2024 |
| نوع الوثيقة: | Working Paper |
| الوصول الحر: | http://arxiv.org/abs/2404.09851Test |
| رقم الانضمام: | edsarx.2404.09851 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |