A Comprehensive Investigation of Lane-Changing Risk Recognition Framework of Multi-Vehicle Type Considering Key Features Based on Vehicles’ Trajectory Data

Abstract

To comprehensively investigate the key features of lane-changing (LC) risk for different vehicle types during left and right LC, and to improve the accuracy of LC risk recognition, this paper proposes a key feature selection and risk recognition model based on vehicle trajectory data. Based on a HighD high-precision vehicle trajectory dataset, the trajectory data of LC vehicles and surrounding vehicles of each vehicle type are extracted. SDI (stop distance index) and CI (crash index) are selected as surrogate indicators to calculate the risk exposure level (REL) and risk severity level (RSL). The K-means algorithm is used to cluster the REL and RSL to obtain the LC risk level, which is divided into three levels. The combination of basic features and interaction features of LC vehicles and surrounding vehicles with LC risk levels is constructed as the LC risk feature dataset. Based on the LightGBM (light gradient boosting machine) algorithm, the importance of features is sorted. Finally, a CNN-BiLSTM-Attention model is established to recognize the LC risk of each vehicle type during left and right LC. The results indicate that significant differences exist among different vehicle types and LC directions. Compared with CNNs (convolutional neural networks), LSTM (long short-term memory), and BiLSTM (bi-directional long short-term memory), CNN-BiLSTM-Attention performs best in recognizing the risk of LC in all cases. Moreover, the key feature groups that have the optimal result of recognizing the risk of LC in different cases are obtained.