Situation assessment and decision making for lane change assistance using ensemble learning methods

摘要

Lane change maneuvers contribute to a significant number of road traffic accidents. Advanced driver assistance systems (ADAS) that can assess a traffic situation and warn drivers of unsafe lane changes can offer additional safety and convenience. In addition, ADAS can be extended for use in automatic lane changing in driverless vehicles. This paper investigated two ensemble learning methods, random forest, and AdaBoost, for developing a lane change assistance system. The focus on increasing the accuracy of safety critical lane change events has a significant impact on lowering the occurrence of crashes. This is the first study to explore ensemble learning methods for modeling lane changes using a comprehensive set of variables. Detailed vehicle trajectory data from the Next Generation Simulation (NGSIM) dataset in the US were used for model development and testing. The results showed that both ensemble learning methods produced higher classification accuracy and lower false positive rates than the Bayes/Decision tree classifier used in the literature. The impact of misclassification of lane changing events was also studied. A sensitivity analysis performed by varying the accuracy of lane changing showed that the lane keeping accuracy can be increased to as high as 99.1% for the AdaBoost system and 98.7% for the random forest system. The corresponding true positive rates were 96.3% and 94.6%. High accuracy of lane keeping and high true positive rates are desirable due to their safety implications. (C) 2015 Elsevier Ltd. All rights reserved.