Decision - Making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment

Guangming Xiong; Ziyi Kang; Hao Li; Weilong Song; Yaying Jin; Jianwei Gong

doi:10.1109/IVS.2018.8500651

Decision - Making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment

Guangming Xiong, Ziyi Kang, Hao Li, Weilong Song, Yaying Jin, Jianwei Gong

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

21 Citations (Scopus)

Abstract

This paper proposes the decision-making framework of lane change behavior based on Hierarchical State Machine (HSM) and we build distributed control system architecture based on RCS (Real-Time Control System) to test the model. Environment perception module, decision planning module and execution control module are put into the distributed system architecture based on RCS to improve real-time and ensure that several modules run simultaneously. Besides, the decision-making framework of lane change behavior consists of two parts: miniature scene information model and decision-making model of lane change behavior based on multi-attribute decision-making. The decision-making model of lane change behavior is based on HSM and it sets two top-level state machines: free lane change model and mandatory lane change model. Free lane change model changes the state by using lane reward model to judge and assess driving condition of each lane, while mandatory lane change model uses strategy of multi-source information fusion tojudge whether to lane change. In the end, the unmanned platform BYD Tang using vehicle embedded platform is used to verify the reliability and effectiveness of the lane change decision-making algorithm proposed in this paper in the real road environment.

Original language	English
Title of host publication	2018 IEEE Intelligent Vehicles Symposium, IV 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1400-1405
Number of pages	6
ISBN (Electronic)	9781538644522
DOIs	https://doi.org/10.1109/IVS.2018.8500651
Publication status	Published - 18 Oct 2018
Event	2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China Duration: 26 Sept 2018 → 30 Sept 2018

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings
Volume	2018-June

Conference

Conference	2018 IEEE Intelligent Vehicles Symposium, IV 2018
Country/Territory	China
City	Changshu, Suzhou
Period	26/09/18 → 30/09/18

Keywords

RCS
automated vehicle
hierarchical state machine
lane change behavior decision-making model
real-vehicle tests

Access to Document

10.1109/IVS.2018.8500651

Cite this

Xiong, G., Kang, Z., Li, H., Song, W., Jin, Y., & Gong, J. (2018). Decision - Making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment. In 2018 IEEE Intelligent Vehicles Symposium, IV 2018 (pp. 1400-1405). Article 8500651 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2018-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2018.8500651

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title = "Decision - Making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment",

abstract = "This paper proposes the decision-making framework of lane change behavior based on Hierarchical State Machine (HSM) and we build distributed control system architecture based on RCS (Real-Time Control System) to test the model. Environment perception module, decision planning module and execution control module are put into the distributed system architecture based on RCS to improve real-time and ensure that several modules run simultaneously. Besides, the decision-making framework of lane change behavior consists of two parts: miniature scene information model and decision-making model of lane change behavior based on multi-attribute decision-making. The decision-making model of lane change behavior is based on HSM and it sets two top-level state machines: free lane change model and mandatory lane change model. Free lane change model changes the state by using lane reward model to judge and assess driving condition of each lane, while mandatory lane change model uses strategy of multi-source information fusion tojudge whether to lane change. In the end, the unmanned platform BYD Tang using vehicle embedded platform is used to verify the reliability and effectiveness of the lane change decision-making algorithm proposed in this paper in the real road environment.",

keywords = "RCS, automated vehicle, hierarchical state machine, lane change behavior decision-making model, real-vehicle tests",

author = "Guangming Xiong and Ziyi Kang and Hao Li and Weilong Song and Yaying Jin and Jianwei Gong",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE Intelligent Vehicles Symposium, IV 2018 ; Conference date: 26-09-2018 Through 30-09-2018",

year = "2018",

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doi = "10.1109/IVS.2018.8500651",

language = "English",

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Xiong, G, Kang, Z, Li, H, Song, W, Jin, Y & Gong, J 2018, Decision - Making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment. in 2018 IEEE Intelligent Vehicles Symposium, IV 2018., 8500651, IEEE Intelligent Vehicles Symposium, Proceedings, vol. 2018-June, Institute of Electrical and Electronics Engineers Inc., pp. 1400-1405, 2018 IEEE Intelligent Vehicles Symposium, IV 2018, Changshu, Suzhou, China, 26/09/18. https://doi.org/10.1109/IVS.2018.8500651

Decision - Making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment. / Xiong, Guangming; Kang, Ziyi; Li, Hao et al.
2018 IEEE Intelligent Vehicles Symposium, IV 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1400-1405 8500651 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Gong, Jianwei

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N2 - This paper proposes the decision-making framework of lane change behavior based on Hierarchical State Machine (HSM) and we build distributed control system architecture based on RCS (Real-Time Control System) to test the model. Environment perception module, decision planning module and execution control module are put into the distributed system architecture based on RCS to improve real-time and ensure that several modules run simultaneously. Besides, the decision-making framework of lane change behavior consists of two parts: miniature scene information model and decision-making model of lane change behavior based on multi-attribute decision-making. The decision-making model of lane change behavior is based on HSM and it sets two top-level state machines: free lane change model and mandatory lane change model. Free lane change model changes the state by using lane reward model to judge and assess driving condition of each lane, while mandatory lane change model uses strategy of multi-source information fusion tojudge whether to lane change. In the end, the unmanned platform BYD Tang using vehicle embedded platform is used to verify the reliability and effectiveness of the lane change decision-making algorithm proposed in this paper in the real road environment.

AB - This paper proposes the decision-making framework of lane change behavior based on Hierarchical State Machine (HSM) and we build distributed control system architecture based on RCS (Real-Time Control System) to test the model. Environment perception module, decision planning module and execution control module are put into the distributed system architecture based on RCS to improve real-time and ensure that several modules run simultaneously. Besides, the decision-making framework of lane change behavior consists of two parts: miniature scene information model and decision-making model of lane change behavior based on multi-attribute decision-making. The decision-making model of lane change behavior is based on HSM and it sets two top-level state machines: free lane change model and mandatory lane change model. Free lane change model changes the state by using lane reward model to judge and assess driving condition of each lane, while mandatory lane change model uses strategy of multi-source information fusion tojudge whether to lane change. In the end, the unmanned platform BYD Tang using vehicle embedded platform is used to verify the reliability and effectiveness of the lane change decision-making algorithm proposed in this paper in the real road environment.

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ER -

Decision - Making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment

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