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Aug 12, 2020
Overtaking Behavior Prediction of Rear Vehicle via LSTM Model
Authors: Mingfang Zhang [email protected], Huajian Li [email protected], Li Wang [email protected], Pangwei Wang [email protected], Shun Tian [email protected], and Yue Feng [email protected]Author Affiliations
Publication: CICTP 2020
ABSTRACT
Predicting the driving behavior of surrounding vehicles is critical to perform motion planning tasks for autonomous vehicles. In this paper, we propose a dual long short-term memory (LSTM) framework to predict the overtaking behavior of the rear vehicle (RV). In the first layer of the framework, the softmax function is utilized to obtain the driving intention based on historical trajectory of RV. In the second layer of the framework, the encoder-decoder architecture is adopted to predict the future trajectory of RV. We trained and tested the proposed framework with the US-101 trajectory data of NGSIM dataset. Mean squared error (MSE) is used to evaluate the performance of the framework. The experimental results reveal that our framework can predict the overtaking intentions of RV 2–3 s before the overtaking maneuver occurs and conduct trajectory prediction at least 1.5 s earlier than that of single LSTM.
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© 2020 American Society of Civil Engineers.
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Published online: Aug 12, 2020
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1Beijing Key Lab of Urban Intelligent Traffic Control Technology, College of Electrical and Control Engineering, North China Univ. of Technology, Beijing 100144, China. Email: [email protected]
2Beijing Key Lab of Urban Intelligent Traffic Control Technology, College of Electrical and Control Engineering, North China Univ. of Technology, Beijing 100144, China. Email: [email protected]
3Beijing Key Lab of Urban Intelligent Traffic Control Technology, College of Electrical and Control Engineering, North China Univ. of Technology, Beijing 100144, China. Email: [email protected]
4Beijing Key Lab of Urban Intelligent Traffic Control Technology, College of Electrical and Control Engineering, North China Univ. of Technology, Beijing 100144, China. Email: [email protected]
5Highway Science Research Institute of Ministry of Transport, Beijing 100088, China. Email: [email protected]
6Beijing Key Lab of Urban Intelligent Traffic Control Technology, College of Electrical and Control Engineering, North China Univ. of Technology, Beijing 100144, China. Email: [email protected]
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