Lane changing behavior has a significant impact on traffic efficiency and may lead to traffic delays or even accidents. It is important to plan a safe and efficient lane-changing trajectory that coordinates with the surrounding environment. Most conventional lane-changing models need to establish and solve constrained optimization models during the whole process, while reinforcement learning can just take the current state as input and directly output actions to vehicles. This study develops a lane-changing model using the deep deterministic policy gradient method, which can simultaneously control the lateral and longitudinal motions of the vehicle. To optimize its performance, a reward function is properly designed by combining safety, efficiency, gap, headway, and comfort features. To avoid collisions, a safety modification model is developed to check and correct acceleration at every time step. The driving trajectory data of 1169 lane-changing scenarios extracted from the Next Generation Simulation (NGSIM) dataset are used to train and test the model. The proposed model can quickly converge in training phase. Testing results show it can complete safe and efficient lane changing in different lane-changing scenarios with both shorter time headway and lane-changing duration than human drivers. Compared with the conventional dynamic lane-changing trajectory planning model, our model can reduce collision risk. It is also evaluated in automated and nonautomated mixed traffic in SUMO. Simulation results show that the proposed model also has a positive effect on the average speed of overall traffic flow.

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Calibrating the microsimulation model is essential to enhance its ability to capture reality. The paper proposes a Bayesian neural network (BNN)-based method to calibrate parameters of microscopic traffic simulators, which reduces repeated running of simulations in the calibration and thus significantly improves the calibration efficiency. We use BNN with probability distributions on the weights to quickly predict the simulation results according to the inputs of the parameters to be calibrated. Based on the BNN model with the best performance, heuristic algorithms (HAs) are performed to seek the optimal values of the parameters to be calibrated with the minimum difference between the predicted results of BNN and the field-measured values. Three HAs are considered, including genetic algorithm (GA), evolutionary strategy (ES), and bat algorithm (BA). A TransModeler case of highway links in Shanghai, China, indicates the validity of the proposed calibration method in terms of error and efficiency. The results demonstrate that the BNN model is able to accurately predict the simulation and adequately capture the uncertainty of the simulation. We also find that the BNN-BA model produces the best calibration efficiency, while the BNN-ES model offers the best performance in calibration accuracy.