Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (3): 700-710.doi: 10.13229/j.cnki.jdxbgxb.20220465

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Analysis of lane⁃changing decision⁃making behavior and molecular dynamics modeling for autonomous vehicles

Da-yi QU1(),Ke-kun ZHANG1,Yuan GU2,Tao WANG1,3,Hui SONG1,Shou-chen DAI1   

  1. 1.School of Mechanical and Automotive Engineering，Qingdao University of Technology，Qingdao 266520，China
    2.Marketing Center，China FAW Group Co. ，Ltd. ，Changchun 130012，China
    3.School of Artificial Intelligence and Big Data，Zibo Vocational and Technical College，Zibo 255300，China
  • Received:2022-04-24 Online:2024-03-01 Published:2024-04-18

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Abstract:

Focusing on the lane-changing decision-making behavior of autonomous vehicles， the microscopic lane-changing behavior of vehicles was studied based on the molecular dynamics theory. On the basis of objectively quantifying the intention to change lanes, a molecular dynamics model of lane changing decision-making behavior was further established by introducing the interaction potential between vehicles. Then， the relationship between the initial moment of lane-changing and the completion moment of lane-changing， as well as the dynamic influencing factors of lane-changing were systematically analyzed. The impact of microscopic lane-changing behavior on macroscopic traffic flow was explored. Finally， with SUMO software， the SL2015 lane-changing model and the molecular dynamics lane-changing model were used for simulation experiments and comparative analysis. The results show that the molecular dynamics lane-changing model has good safety， stability and practicability. The molecular dynamics modeling of lane-changing decision-making behavior for autonomous vehicles comprehensively considers the dynamic influencing factors in the traffic scene， which can more objectively and reasonably demonstrate the lane changing behavior characteristics of autonomous vehicles.

Key words: engineering of communications and transportation system, traffic system model, autonomous vehicles, molecular dynamics, lane-changing decision-making behavior, interaction potential

CLC Number: 

  • U491.2

Fig.1

Free lane-changing scene"

Fig.2

Intermolecular force"

Fig.3

General molecular motion state"

Fig.4

Molecular force analysis of the lane-changing vehicle"

Fig.5

Required safety distance of the lane-changing vehicle"

Fig.6

Positional relationship between LV and FV"

Fig.7

Required safety distance of vehicles under different speeds"

Fig.8

Positional relationship between LV and RV"

Fig.9

Lane-changing simulation interface"

Fig.10

Information about lane-changing vehicle"

Fig.11

Speed under different models"

Fig.12

Comparison of lane-changing information"

Fig.13

Perturbation test under different models"

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