On-Road Vehicle Trajectory Collection and Scene-Based Lane Change Analysis: Part II.

This two-part paper aims to study lane change behaviors at the tactical level from an on-road perspective. Compared with longitudinal driving tasks, a lane change is more complicated because this task has more interactions with surrounding vehicles; thus, there are more potential risks during this procedure. Based on the results from Part I on an on-road vehicle trajectory collection, this part investigates lane change extraction and scene-based behavior analysis, and it has a particular focus on understanding the interactions between an ego and surrounding vehicles during the procedure. We claim that this paper provides the following novel contributions: 1) an automatic method is proposed for extracting lane change segments from a continuous driving sequence by modeling and recognizing patterns in a steering angle; 2) a lane change database at the trajectory level is generated, which reflects the interactions between an ego and the surrounding vehicles during the procedures; and 3) we present findings from analyzing lane change procedures using real-world data on the axes of both the ego's trajectory and interactions with the scene vehicles. To the authors' knowledge, this is the first lane change behavior study from an on-road perspective that addresses the vehicle interactions in real-world traffic at the trajectory level. [ABSTRACT FROM PUBLISHER]