Study on Driving Decision-Making Mechanism of Autonomous Vehicle Based on an Optimized Support Vector Machine Regression

Abstract

Driving Decision-making Mechanism (DDM) is identified as the key technology to ensure the driving safety of autonomous vehicle, which is mainly influenced by vehicle states and road conditions. However, previous studies have seldom considered road conditions and their coupled effects on driving decisions. Therefore, road conditions are introduced into DDM in this paper, and are based on a Support Vector Machine Regression (SVR) model, which is optimized by a weighted hybrid kernel function and a Particle Swarm Optimization (PSO) algorithm, this study designs a DDM for autonomous vehicle. Then, the SVR model with RBF (Radial Basis Function) kernel function and BP (Back Propagation) neural network model are tested to validate the accuracy of the optimized SVR model. The results show that the optimized SVR model has the best performance than other two models. Finally, the effects of road conditions on driving decisions are analyzed quantitatively by comparing the reasoning results of DDM with different reference index combinations, and by the sensitivity analysis of DDM with added road conditions. The results demonstrate the significant improvement in the performance of DDM with added road conditions. It also shows that road conditions have the greatest influence on driving decisions at low traffic density, among those, the most influential is road visibility, then followed by adhesion coefficient, road curvature and road slope, while at high traffic density, they have almost no influence on driving decisions.