Tactical Lane Change Model With Sequential Maneuver Planning

Abstract

The lane change models used in today's traffic simulators often do not determine lane change actions in terms of the evaluation of sequential plans, but rather in terms of the utility of the very next lane change action. This has the disadvantage of not being able to account for the influence of delayed rewards, such as the simulated vehicle moving across a slow lane to a better-performing non-adjacent lane. This research presents a lane change model which at every simulation time step, builds a tree of potential maneuver sequences, and selects the lane change action according to planning over a time horizon. The model was calibrated using a vehicle trajectory data set and shown to give improved realism of lane change actions of individual vehicles, compared to a lane change model without sequential planning.

Maneuvers of motorcycles in queues at signalized intersections

“…Regression models of cumulative curves of observed speed advantage and speed disadvantage data were used to simulate the probability of a driver's decision to make a lane change. Webster et al [11] provided a modeling framework for representing the act of planning in the lane changing process. In the model, the driver considered all maneuver sequences over a planning time horizon, and selected the most preferable lane.…”

Macroscopic modeling of lane‐changing for two‐lane traffic flow

“…Some of these models focus on the rules of lane-changing and the resulting physical phenomena that lane-changing causes, such as phase transitions, overtaking, and various types of density waves (Chowdhury et al, 1997;Nagel et al, 1998;Kurata and Nagatani, 2003;Nagai et al, 2005;Tang et al, 2006;Tang et al, 2007a,b,c;Lan and Chang, 2005;Ngoduy, 2006Ngoduy, , 2008Webster et al, 2008), whereas others study the qualitative properties of lane-changing using the kinematic wave theory (Daganzo, 1997;2002a,b;Daganzo et al, 1997;Greenberg et al, 2003;Wei et al, 2000;Holland and Woods, 1997;Laval, 2003;2004;Laval and Daganzo, 2003;Jin andZhang, 2003a,b,c, 2004;Jin and Jayakrishnan, 2005;Jin, 2006). Some useful empirical evidence has also been produced (Mauch and Cassidy, 2002;Ahn, 2005;Cassidy and Bertini, 1999;Cassidy and Rudjanakanoknad, 2005).…”