Lane changing models based on artificial potential field

Abstract

In order to accurately simulate vehicles' running states of lane changing and more effectively reflect its characteristics, based on the driving experience, this paper introduced three changing rules and their corresponding lane changing benefits and safety factors, and summarized the lateral and longitudinal motion of vehicles as the interaction result between lane changing benefits and safety factors in the lane changing process. Taking the basic idea of artificial potential field for reference, the lane changing benefits and safety factors are abstracted respectively as the attractive and repulsive force perceived by drivers, and then the lane changing model corresponding to each lane changing rule was established after analyzing. Finally, the measured data were used to calibrate and test the parameters of lane changing model of different rules. The results showed that the testing errors of the models are within a reasonable range, and the changing trend of lane changing of different rules can be well fitted.