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Fuel- and noise-minimal departure trajectory using deep reinforcement learning with aircraft dynamics and topography constraints 基于飞机动力学和地形约束的深度强化学习的燃油和噪声最小离场轨迹
IF 12.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-03-12 DOI: 10.1016/j.commtr.2025.100165
Chris HC. Nguyen , James M. Shihua , Rhea P. Liem
Designing an optimal departure trajectory for an airport can minimize fuel emissions within the surrounding airspace and noise perceived by nearby populations, which brings positive sociological and economic implications in addition to environmental benefits. Yet, designing a trajectory that considers realistic operational constraints could be complex and, consequently, computationally expensive. Traditional trajectory optimization methods often simplify the problem to manage computational costs, which leads to compromised accuracy. To overcome this challenge, we propose a reinforcement learning (RL) approach that can satisfy multidisciplinary constraints by leveraging accurately modeled flight dynamics, high-fidelity population data, and topological data. This is achieved by establishing a comprehensive, physically-consistent simulated environment for the learning algorithm, while keeping the computational cost low. Instead of directly designing the trajectory itself, we train an RL agent to control the aircraft, whose trajectory is then considered as optimal. We model the RL problem as a continuous Markov decision process and employ the soft actor-critic architecture. By changing the relative importance of fuel consumption and noise in the optimization objective, we can obtain different optimum trajectories that are well-suited to the specific region of interest. Not surprisingly, a trade-off between fuel consumption and noise impact is observed in our results. This developed framework provides a more accurate and sophisticated approach for departure trajectory optimization, whose results are beneficial for future airspace design and can support sustainable aviation efforts.
为机场设计一个最佳的起飞轨迹可以最大限度地减少周围空域的燃油排放和附近人群感受到的噪音,这除了带来环境效益外,还带来了积极的社会和经济影响。然而,设计一个考虑实际操作约束的轨迹可能是复杂的,因此计算成本很高。传统的轨迹优化方法往往为了控制计算成本而简化问题,从而导致精度降低。为了克服这一挑战,我们提出了一种强化学习(RL)方法,该方法可以通过利用精确建模的飞行动力学、高保真种群数据和拓扑数据来满足多学科约束。这是通过为学习算法建立一个全面的、物理一致的模拟环境来实现的,同时保持较低的计算成本。我们不是直接设计轨迹本身,而是训练一个RL代理来控制飞机,然后将其轨迹视为最优。我们将RL问题建模为一个连续的马尔可夫决策过程,并采用了软参与者-评论家体系结构。通过改变燃油消耗和噪声在优化目标中的相对重要性,我们可以得到不同的最优轨迹,这些轨迹非常适合于特定的兴趣区域。毫不奇怪,在我们的结果中观察到燃料消耗和噪音影响之间的权衡。该开发框架为离场轨迹优化提供了更精确和复杂的方法,其结果有利于未来空域设计,并可支持可持续航空努力。
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引用次数: 0
Toward developing socially compliant automated vehicles: Advances, expert insights, and a conceptual framework 面向开发符合社会要求的自动驾驶汽车:进展、专家见解和概念框架
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-09-08 DOI: 10.1016/j.commtr.2025.100207
Yongqi Dong , Bart van Arem , Haneen Farah
By improving road safety, traffic efficiency, and overall mobility, automated vehicles (AVs) hold promise for revolutionizing transportation. Despite the steady advancement in high-level AVs in recent years, the transition to full automation entails a period of mixed traffic, where AVs of varying automation levels coexist with human-driven vehicles (HDVs). Making AVs socially compliant and understood by human drivers is expected to improve the safety and efficiency of mixed traffic. Thus, ensuring AVs’ compatibility with HDVs and social acceptance is crucial for their successful and seamless integration into mixed traffic. However, research in this critical area of developing socially compliant AVs (SCAVs) remains sparse. This study carries out the first comprehensive scoping review to assess the current state of the art in developing SCAVs, identifying key concepts, methodological approaches, and research gaps. An informal expert interview was also conducted to discuss the literature review results and identify critical research gaps and expectations toward SCAVs. On the basis of the scoping review and expert interview input, a conceptual framework is proposed for the development of SCAVs. The conceptual framework is evaluated via an online survey targeting researchers, technicians, policymakers, and other relevant professionals worldwide. The survey results provide valuable validation and insights, affirming the importance of the proposed conceptual framework in tackling the challenges of integrating AVs into mixed-traffic environments. Additionally, future research perspectives and suggestions are discussed, contributing to the research and development agenda of SCAVs.
通过提高道路安全、交通效率和整体机动性,自动驾驶汽车有望彻底改变交通运输。尽管近年来高级自动驾驶汽车稳步发展,但向全自动驾驶的过渡需要一段混合交通时期,不同自动化水平的自动驾驶汽车与人类驾驶的车辆(HDVs)共存。让自动驾驶汽车符合社会规范,并被人类驾驶员理解,有望提高混合交通的安全性和效率。因此,确保自动驾驶汽车与hdv的兼容性和社会接受度对于它们成功无缝地融入混合交通至关重要。然而,在开发符合社会要求的自动驾驶汽车(scav)这一关键领域的研究仍然很少。本研究进行了第一次全面的范围审查,以评估scav开发的现状,确定关键概念、方法方法和研究差距。我们还进行了一次非正式的专家访谈,讨论了文献综述的结果,并确定了关键的研究差距和对scav的期望。在评估范围和专家访谈输入的基础上,提出了scav发展的概念框架。该概念框架通过针对全球研究人员、技术人员、政策制定者和其他相关专业人员的在线调查进行评估。调查结果提供了有价值的验证和见解,肯定了拟议的概念框架在解决将自动驾驶汽车整合到混合交通环境中的挑战方面的重要性。此外,本文还对未来的研究前景和建议进行了讨论,以期为scav的研究和发展议程做出贡献。
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引用次数: 0
Public acceptance of driverless buses: An extended UTAUT2 model with anthropomorphic perception and empathy 公众对无人驾驶公交车的接受度:具有拟人化感知和同理心的扩展UTAUT2模型
IF 12.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-03-11 DOI: 10.1016/j.commtr.2025.100167
Zijing He , Ying Yang , Yan Mu , Xiaobo Qu
The sustainable transportation strategy emphasizes the enormous potential of driverless buses and enables their gradual integration into society over the coming decade. Therefore, it is crucial to cultivate public acceptance of driverless buses. This study is based on the extended unified theory of acceptance and use of technology (UTAUT2) and empathy theory. The structural equation modeling (SEM) method was used to analyze valid survey responses from 852 participants residing in China. Both the UTAUT2 factors and the anthropomorphic perception components independently predicted the public acceptance of driverless buses. This study indicates that future campaigns promoting driverless buses should highlight not only their functional value but also their perceived socioemotional value. Considering users’ psychological characteristics (such as empathy and communal traits) can help improve the travel experience, accelerate the transition to emerging innovative technologies, and achieve the potential benefits of intelligent and sustainable transportation.
可持续交通战略强调了无人驾驶公共汽车的巨大潜力,并使其在未来十年逐步融入社会。因此,培养公众对无人驾驶公交车的接受度至关重要。本研究基于技术接受与使用扩展统一理论(UTAUT2)和共情理论。采用结构方程建模(SEM)方法对852名居住在中国的调查参与者的有效回复进行分析。UTAUT2因子和拟人化感知因子都独立预测了公众对无人驾驶公交车的接受程度。这项研究表明,未来推广无人驾驶公交车的活动不仅要突出其功能价值,还要突出其感知的社会情感价值。考虑用户的心理特征(如移情和公共特征)可以帮助改善出行体验,加速向新兴创新技术的过渡,并实现智能和可持续交通的潜在效益。
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引用次数: 0
PriorFusion: Unified integration of priors for robust road perception in autonomous driving PriorFusion:用于自动驾驶稳健道路感知的先验统一集成
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-11-18 DOI: 10.1016/j.commtr.2025.100229
Xuewei Tang , Mengmeng Yang , Tuopu Wen , Peijin Jia , Le Cui , Mingshan Luo , Kehua Sheng , Bo Zhang , Kun Jiang , Diange Yang
With the growing interest in autonomous driving, there is an increasing demand for accurate and reliable road perception technologies. In complex environments without high-definition map support, autonomous vehicles must independently interpret their surroundings to ensure safe and robust decision-making. However, these scenarios pose significant challenges due to the large number, complex geometries, and frequent occlusions of road elements. A key limitation of existing approaches lies in their insufficient exploitation of the structured priors inherently present in road elements, resulting in irregular, inaccurate predictions. To address this, we propose PriorFusion, a unified framework that effectively integrates semantic, geometric, and generative priors to enhance road element perception. We introduce an instance-aware attention mechanism guided by shape-prior features, then construct a data-driven shape template space that encodes low-dimensional representations of road elements, enabling clustering to generate anchor points as reference priors. We design a diffusion-based framework that leverages these prior anchors to generate accurate and complete predictions. Experiments on large-scale autonomous driving datasets demonstrate that our method significantly improves perception accuracy, particularly under challenging conditions. Visualization results further confirm that our approach produces more accurate, regular, and coherent predictions of road elements.
随着人们对自动驾驶的兴趣日益浓厚,对准确可靠的道路感知技术的需求也越来越大。在没有高清地图支持的复杂环境中,自动驾驶汽车必须独立解读周围环境,以确保安全可靠的决策。然而,由于数量庞大、几何形状复杂、道路元素频繁遮挡,这些场景带来了重大挑战。现有方法的一个关键限制在于它们没有充分利用道路要素固有的结构化先验,从而导致不规则和不准确的预测。为了解决这个问题,我们提出了PriorFusion,这是一个统一的框架,有效地集成了语义、几何和生成先验,以增强道路要素感知。我们引入了一种由形状先验特征引导的实例感知注意力机制,然后构建了一个数据驱动的形状模板空间,该空间对道路元素的低维表示进行编码,使聚类能够生成锚点作为参考先验。我们设计了一个基于扩散的框架,利用这些先前的锚来生成准确和完整的预测。在大规模自动驾驶数据集上的实验表明,我们的方法显著提高了感知精度,特别是在具有挑战性的条件下。可视化结果进一步证实,我们的方法产生了更准确、更规律、更连贯的道路元素预测。
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引用次数: 0
A systematic review of machine learning-based microscopic traffic flow models and simulations 基于机器学习的微观交通流模型和模拟的系统综述
IF 12.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-02-27 DOI: 10.1016/j.commtr.2025.100164
Davies Rowan , Haitao He , Fang Hui , Ali Yasir , Quddus Mohammed
Microscopic traffic flow models and simulations are crucial for capturing vehicle interactions and analyzing traffic. They can provide critical insights for transport planning, management, and operation through scenario testing and optimization. With the growing availability of high-resolution data and rapid advancements in machine learning (ML) techniques, ML-based microscopic traffic flow models are emerging as promising alternatives to traditional physical models, offering improved accuracy and greater flexibility. Although many models have been developed, comprehensive studies that critically assess the strengths and weaknesses of these models and the overall ML-based approach are lacking. To fill this gap, this study presents a systematic review of ML-based microscopic traffic flow models and simulations, covering both car-following and lane-changing behaviors. This review identifies key areas for future research, including the development of methods to improve model transferability across different operational design domains, the need to capture both driver-specific and location-specific heterogeneity via benchmark datasets, and the incorporation of advanced ML techniques such as meta-learning, federated learning, and causal learning. Additionally, enhancing model interpretability, accounting for mesoscopic and macroscopic traffic impacts, incorporating physical constraints in model training, and developing ML models designed for autonomous vehicles are crucial for the practical adoption of ML-based microscopic models in traffic simulations.
微观交通流模型和仿真对于捕获车辆相互作用和分析交通至关重要。它们可以通过场景测试和优化为运输规划、管理和运营提供关键的见解。随着高分辨率数据的日益可用性和机器学习(ML)技术的快速发展,基于ML的微观交通流模型正在成为传统物理模型的有希望的替代品,提供更高的准确性和更大的灵活性。尽管已经开发了许多模型,但缺乏批判性地评估这些模型的优缺点和整体基于ml的方法的全面研究。为了填补这一空白,本研究系统地回顾了基于机器学习的微观交通流模型和模拟,涵盖了车辆跟随和变道行为。这篇综述确定了未来研究的关键领域,包括开发方法来提高模型在不同操作设计领域的可移植性,通过基准数据集捕获特定驾驶员和特定位置的异质性,以及结合元学习、联邦学习和因果学习等高级机器学习技术。此外,增强模型可解释性,考虑中观和宏观交通影响,在模型训练中纳入物理约束,以及开发为自动驾驶汽车设计的ML模型,对于在交通模拟中实际采用基于ML的微观模型至关重要。
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引用次数: 0
Machine learning-based real-time crash risk forecasting for pedestrians 基于机器学习的行人实时碰撞风险预测
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-11-25 DOI: 10.1016/j.commtr.2025.100224
Fizza Hussain , Yuefeng Li , Shimul Md Mazharul Haque
Recent developments in artificial intelligence (AI) have made significant improvements in understanding and enhancing pedestrian safety—a vulnerable road user group that receives less attention than motorized road users do. Specifically, AI-based video analytics have provided insight into facilitating real-time safety at signalized intersections. However, past studies have not fully realized the essence of real-time analysis, which underpins forecasting pedestrian collision likelihood by analyzing how past extreme events influence future risk over sequential intervals. To this end, we combine extreme value theory and machine learning models for real-time pedestrian collision risk forecasting. Traffic conflicts and their associated variables were identified from 288 ​h of video footage obtained from three signalized intersections in Queensland, Australia, via computer vision techniques, including YOLO and DeepSORT, to obtain the post encroachment time for vehicle‒pedestrian interactions. A Bayesian non-stationary peak over threshold (POT) is developed to obtain real-time pedestrian crash risk at the signal cycle level. The performance of the POT model is compared with observed crashes, and the results demonstrate the reasonable accuracy of the model. The estimated pedestrian crash risk at each signal cycle forms contiguous univariate time series data (which serve as ground truth), which are used as input to develop time series machine learning models (recurrent neural networks (RNNs) and long short-term memory (LSTM)). Both of these models forecast pedestrian crash risk, with the RNN model outperforming the competing model and demonstrating that pedestrian crash risk can be reliably estimated 30−33 ​min in advance.
人工智能(AI)的最新发展在理解和加强行人安全方面取得了重大进展,行人是一个弱势的道路使用者群体,与机动道路使用者相比,他们受到的关注较少。具体来说,基于人工智能的视频分析为促进信号交叉口的实时安全提供了见解。然而,过去的研究并没有充分认识到实时分析的本质,实时分析是通过分析过去的极端事件对未来风险的影响来预测行人碰撞可能性的基础。为此,我们将极值理论与机器学习模型相结合,进行实时行人碰撞风险预测。利用计算机视觉技术(包括YOLO和DeepSORT),从澳大利亚昆士兰州三个信号交叉口的288 h视频片段中识别交通冲突及其相关变量,获得车辆与行人相互作用的侵占后时间。提出了一种贝叶斯非平稳超阈值峰值(POT)方法,在信号周期水平上实时获取行人碰撞风险。将POT模型的性能与实际碰撞进行了比较,结果证明了该模型的合理精度。每个信号周期估计的行人碰撞风险形成连续的单变量时间序列数据(作为基础事实),这些数据用作开发时间序列机器学习模型(循环神经网络(rnn)和长短期记忆(LSTM))的输入。这两种模型都预测行人碰撞风险,其中RNN模型优于竞争模型,并证明行人碰撞风险可以提前30 - 33分钟可靠地估计。
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引用次数: 0
A parsimonious model for classifying the traffic state of urban road networks: A two-stage regression approach 城市道路网络交通状态分类的简化模型:两阶段回归方法
IF 12.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-06-05 DOI: 10.1016/j.commtr.2025.100185
Wei Huang , Dalin Tang , Xin Qiao , Guojun Chen
An effective method of traffic state classification is crucial for managing urban traffic congestion. Existing methods usually assume a given number of state categories, which is not flexible if real applications are required to define different state levels. In this study, a parsimonious statistical model is derived and validated for classifying urban traffic states. The model is developed on the basis of a large-scale empirical travel speed dataset from five cities in China. First, a hybrid clustering method that integrates DBSCAN and natural breaks is used to derive traffic state classification under various numbers of state categories. The classification results are then compiled to conduct the subsequent regression analysis. Second, a two-stage regression approach is proposed to investigate the correlation between the number of state categories and the classification criteria (i.e., state thresholds that separate one state level from another). In the first stage, a significant linear relationship between the classification criteria of adjacent traffic states is derived (R2¯ ​= ​0.80, P ​< ​0.001). In the second stage, a significant correlation between the slope, intercept, and number of state categories is derived (R2¯ ​= ​0.95, P ​< ​0.001). On the basis of the two-stage regression analysis, a novel parsimonious statistical model is developed. Third, the developed model is evaluated with three performance indicators, namely, the mean squared error (MSE), mean absolute error (MAE), and mean relative error (MRE). The claffication accuracy is further validated via a case study on the speed data of Foshan Avenue North road. We suggest that the model can be used to assist flexible decision-making support with different levels of detail.
一种有效的交通状态分类方法对于管理城市交通拥堵至关重要。现有的方法通常假设给定数量的状态类别,如果实际应用程序需要定义不同的状态级别,这是不灵活的。本文提出了一种简洁的城市交通状态分类统计模型,并进行了验证。该模型是在中国五个城市的大规模经验旅行速度数据的基础上开发的。首先,采用DBSCAN和自然中断相结合的混合聚类方法,推导出不同数量状态类别下的流量状态分类。然后对分类结果进行编译,进行后续的回归分析。其次,提出了一种两阶段回归方法来研究状态类别数量与分类标准(即将一个状态级别与另一个状态级别分开的状态阈值)之间的相关性。在第一阶段,导出相邻交通状态分类标准之间的显著线性关系(R2¯= 0.80,P <;0.001)。在第二阶段,推导出斜率、截距和状态类别数量之间的显著相关性(R2¯= 0.95,P <;0.001)。在两阶段回归分析的基础上,建立了一种新的简约统计模型。第三,用均方误差(MSE)、平均绝对误差(MAE)和平均相对误差(MRE)三个性能指标对模型进行评价。以佛山大道北路车速数据为例,进一步验证了该方法的准确率。我们建议,该模型可用于辅助灵活的决策支持与不同层次的细节。
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引用次数: 0
Corrigendum to “Interaction dataset of autonomous vehicles with traffic lights and signs”[Communications. Transp. Res. 5 (2025) 100201] “自动驾驶车辆与交通信号灯和标志的交互数据集”的勘误表[通信]。透明。Res. 5 (2025) 100201]
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-10-13 DOI: 10.1016/j.commtr.2025.100217
Zheng Li , Zhipeng Bao , Haoming Meng , Haotian Shi , Qianwen Li , Handong Yao , Xiaopeng Li
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引用次数: 0
Evaluation of accessibility disparities in urban areas during disruptive events based on transit real data 基于交通实际数据的破坏性事件中城市地区可达性差异评价
IF 12.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-01-15 DOI: 10.1016/j.commtr.2024.100160
Alessandro Nalin , Nir Fulman , Emily Charlotte Wilke , Christina Ludwig , Alexander Zipf , Claudio Lantieri , Valeria Vignali , Andrea Simone
The main motivation of this paper is to emphasize the necessity of assessing the actual performance of public transportation (PT), rather than relying on schedules, when assessing accessibility and equity in the provision of PT services. Real conditions are reflected in datasets such as the outcomes of Automatic Vehicle Monitoring (AVM) systems, whereas schedules are usually provided as General Transit Feed Specification (GTFS). In light of the dissimilar characteristics of central and peripheral neighborhoods, it is crucial to consider the operational conditions that users encounter, particularly in the context of unexpected disruptions that alter regular service. By examining a real-world case study in Bologna, Italy, the research combines well-known measures and innovative methods and demonstrates notable variation in accessibility and equity in the provision of PT services when comparing results based on real-time data with those based on schedules. This work contributes to a more nuanced understanding of urban accessibility and highlights the need for public stakeholders and transport authorities to incorporate actual service conditions into their evaluations.
本文的主要动机是强调在评估公共交通服务提供的可达性和公平性时,评估公共交通(PT)实际性能的必要性,而不是依赖于时间表。实际情况反映在数据集中,如自动车辆监控(AVM)系统的结果,而时间表通常作为通用运输馈送规范(GTFS)提供。鉴于中心和外围社区的不同特征,考虑用户遇到的操作条件至关重要,特别是在改变常规服务的意外中断的情况下。通过对意大利博洛尼亚的现实案例研究,该研究结合了众所周知的措施和创新方法,并在将基于实时数据的结果与基于时间表的结果进行比较时,证明了PT服务提供的可及性和公平性方面的显着差异。这项工作有助于更细致地了解城市可达性,并强调了公共利益相关者和交通管理部门将实际服务条件纳入其评估的必要性。
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引用次数: 0
LC-LLM: Explainable lane-change intention and trajectory predictions with Large Language Models LC-LLM:大语言模型的可解释变道意图和轨迹预测
IF 12.5 Q1 TRANSPORTATION Pub Date : 2025-12-01 Epub Date: 2025-04-01 DOI: 10.1016/j.commtr.2025.100170
Mingxing Peng , Xusen Guo , Xianda Chen , Kehua Chen , Meixin Zhu , Long Chen , Fei-Yue Wang
To ensure safe driving in dynamic environments, autonomous vehicles should possess the capability to accurately predict lane change intentions of surrounding vehicles in advance and forecast their future trajectories. Existing motion prediction approaches have ample room for improvement, particularly in terms of long-term prediction accuracy and interpretability. In this study, we address these challenges by proposing a Lane Change-Large Language Model (LC-LLM), an explainable lane change prediction model that leverages the strong reasoning capabilities and self explanation abilities of Large Language Models (LLMs). Essentially, we reformulate the lane change prediction task as a language modeling problem, processing heterogeneous driving scenario information as natural language prompts for LLMs and employing supervised fine-tuning to tailor LLMs specifically for lane change prediction task. Additionally, we finetune the Chain-of-Thought (CoT) reasoning to improve prediction transparency and reliability, and include explanatory requirements in the prompts during the inference stage. Therefore, our LC-LLM not only predicts lane change intentions and trajectories but also provides CoT reasoning and explanations for its predictions, enhancing its interpretability. Extensive experiments based on the large-scale highD dataset demonstrate the superior performance and interpretability of our LC-LLM in lane change prediction task. To the best of our knowledge, this is the first attempt to utilize LLMs for predicting lane change behavior. Our study shows that LLMs can effectively encode comprehensive interaction information for understanding driving behavior.
为了保证动态环境下的安全驾驶,自动驾驶汽车应该具备提前准确预测周围车辆变道意图并预测其未来轨迹的能力。现有的运动预测方法有很大的改进空间,特别是在长期预测精度和可解释性方面。在本研究中,我们提出了一个车道变化大语言模型(LC-LLM)来解决这些挑战,这是一个可解释的车道变化预测模型,利用了大型语言模型(llm)强大的推理能力和自我解释能力。从本质上讲,我们将变道预测任务重新表述为一个语言建模问题,将异构驾驶场景信息处理为llm的自然语言提示,并采用监督微调来定制专门用于变道预测任务的llm。此外,我们对思维链(CoT)推理进行了微调,以提高预测的透明度和可靠性,并在推理阶段的提示中包含解释性要求。因此,我们的LC-LLM不仅可以预测变道意图和轨迹,还可以为其预测提供CoT推理和解释,增强了其可解释性。基于大规模高d数据集的大量实验证明了LC-LLM在车道变化预测任务中的优越性能和可解释性。据我们所知,这是第一次尝试利用llm来预测变道行为。我们的研究表明,llm可以有效地编码全面的交互信息,以理解驾驶行为。
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引用次数: 0
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Communications in Transportation Research
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