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A Two-Dimensional Lane-Changing Dynamics Model Based on Force
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DOI：10.1109/TITS.2024.3476999.png)
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Abstract
En 中文
The lane-changing behavior exerts a profound influence on the dynamic attributes of traffic flow and road safety. Accurate analysis of lane-changing behavior not only facilitates the comprehension of traffic phenomena and the prevention of traffic accidents but also contributes to constructing a dynamic and realistic background traffic flow for autonomous driving tests. In this paper, we propose a two-dimensional lane-changing dynamics model based on force by abstracting the motion of the vehicle as the variation in acceleration under the influence of forces. Specifically, based on the similarity analysis of factors affecting acceleration and constitutive relationships, the three types of forces to which the vehicle is subjected are represented by a combination of basic visco-elastic elements, while the driver's attention to the current and target lanes decreases and grows during the lane changing process is analyzed. This model not only comprehensively delineates the lane-changing process but also represents the influences of driver characteristics, neighboring vehicles, and road conditions. In order to verify the performance of the proposed model, we identified the parameters using the least squares method (LSM) based on the highD naturalistic driving dataset. Comparative results illustrate that the lane-changing dynamics model effectively capture complex lane-changing behaviors and their interactions between ego vehicle and surrounding vehicles through a simple and unified way.
Keywords:
Vehicle dynamics
Force
Vehicles
Dynamics
Autonomous vehicles
Analytical models
Safety
Roads
Testing
Predictive models
Two-dimensional lane-changing model
visco-elasto constitutive relation
social force model
dynamic and realistic background traffic flow
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