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A Novel Lane-Changing Decision Model for Autonomous Vehicles Based on Deep Autoencoder Network and XGBoost

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Lane-changing (LC) is a critical task for autonomous driving, especially in complex dynamic environments. Numerous automatic LC algorithms have been proposed. This topic, however, has not been sufficiently addressed in… Click to show full abstract

Lane-changing (LC) is a critical task for autonomous driving, especially in complex dynamic environments. Numerous automatic LC algorithms have been proposed. This topic, however, has not been sufficiently addressed in existing on-road manoeuvre decision methods. Therefore, this paper presents a novel LC decision (LCD) model that gives autonomous vehicles the ability to make human-like decisions. This method combines a deep autoencoder (DAE) network with the XGBoost algorithm. First, a DAE is utilized to build a robust multivariate reconstruction model using time series data from multiple sensors; then, the reconstruction error of the DAE trained with normal data is analysed for LC identification (LCI) and training data extraction. Then, to address the multi-parametric and nonlinear problem of the autonomous LC decision-making process, an XGBoost algorithm with Bayesian parameter optimization is adopted. Meanwhile, to fully train our learning model with large-scale datasets, we proposed an online training strategy that updates the model parameters with data batches. The experimental results illustrate that the DAE-based LCI model is able to accurately identify the LC behaviour of vehicles. Furthermore, with the same input features, the proposed XGBoost-based LCD model achieves better performance than other popular approaches. Moreover, a simulation experiment is performed to verify the effectiveness of the decision model.

Keywords: autonomous vehicles; model; network xgboost; deep autoencoder; decision; lane changing

Journal Title: IEEE Access
Year Published: 2020

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