Research Article

A Novel Intelligent Approach to Lane-Change Behavior Prediction for Intelligent and Connected Vehicles

Algorithm 1

Lane-change detection algorithm.
Input: The velocity data on x-axis in δ sampling periods, Vx;
Output: The predicted lane-change behavior, behavior; The beginning and ending time of the predicted lane-change behavior, t1, t2;
(1)for i = 1 to length do
(2)if or then
(3)  
(4)end if
(5)end for
(6)for all zero crossing value m = 1 to length do
(7);
(8)end for
(9)for all training object and test object do
(10) Compute distance between z and every object ;
(11) Select Iz⊆ I, the set of k closest training objects to z; return; t1=c(m), t2=c(m + 1);
(12)end for