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 |
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