Simultaneous intelligent anticipation and control of follower vehicle observing exiting lane changer
Loading...
Access rights
openAccess
publishedVersion
URL
Journal Title
Journal ISSN
Volume Title
A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
Date
2021-09
Department
Major/Subject
Mcode
Degree programme
Language
en
Pages
11
Series
IEEE Transactions on Vehicular Technology, Volume 70, issue 9, pp. 8567-8577
Abstract
Despite the advances related to car-following and lane-changing behaviors, the influence of lane-changing on the car-following models, which results in a complex transient merging behavior, has not comprehensively been investigated. This paper presents a novel fuzzy controller based on a human factor to optimize the Follower Vehicle (FV) behavior subject to safety, comfort, and convenient traveled time in the complex behavior where the Lane Changer (LC) vehicle exits the temporary lane. The factor enables the controller to mimic the current driver behavior in terms of maximum pleasantness of drive. Accordingly, the data of real-life experiments were used to design the human-like fuzzy controller, to build a predictive model to suggest the appropriate acceleration, velocity, and travel distance. At best, the correlation coefficient of 0.93 and the Root Mean Square Error (RMSE) of 0.71 were achieved for modeling using the adaptive Neuro-Fuzzy Inference System (ANFIS) utilizing Gaussian function as a membership function. Furthermore, to evaluate the robustness of the controller to uncertainties and unknown disturbances for real-time driving experiments, a test-bed was fabricated to mount the feedback sensors, including vision, accelerometer, and distance measurement sensors. The results of running the controller in various driving scenarios showed 70% and 38% improvements in safety and ride comfort, respectively. The proposed intelligent controller is intended to be used for vehicle route guidance and on urban highways.Description
Publisher Copyright: IEEE
Keywords
Biological system modeling, Car-following behavior, Comfort, Computational modeling, Human factors, Human-like fuzzy controller, Lane-changing behavior, Merging, Predictive models, Safety, Vehicles
Other note
Citation
Tajdari, F, Golgouneh, A, Ghaffari, A, Khodayari, A, Kmali, A & Hosseinkhani, N 2021, ' Simultaneous intelligent anticipation and control of follower vehicle observing exiting lane changer ', IEEE Transactions on Vehicular Technology, vol. 70, no. 9, pp. 8567-8577 . https://doi.org/10.1109/TVT.2021.3099736