A hierarchical prediction model for lane-changes based on combination of fuzzy C-means and adaptive neural network

Lane changing behavior generally expresses uncertainty due to the impact of environmental factors, and unreasonable lane changes can cause serious collisions. High precision prediction of lane changing intent is helpful to enhance proactivity in driving safety protection. This study proposed a lane-changing prediction model based on Fuzzy C-means clustering algorithm and adaptive Neural Network (FCMNN), which introduced a new prediction process: (1) Unsupervised learning method: categorize original dataset into different clusters according to their distribution features; (2) Supervised learning method: optimize sub Neural Network structures and weighting parameters for each cluster or pattern. Through comparing with several traditional methods under different simulation scenarios, the proposed model effectively improve the prediction performance and stability. The results obtained in this study will be helpful to deeply analyze the intent recognition of driving behavior, improve the safety of lane-changing behavior, and provide key technology in driving prediction of Advanced Driver Assistance System (ADAS). (C) 2019 Elsevier Ltd. All rights reserved.