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최완식(Wansik Choi),안창선(Changsun Ahn) 대한기계학회 2020 대한기계학회 춘추학술대회 Vol.2020 No.12
Because there are only small space between vehicles in lateral direction, the lateral maneuvers should be considered for safety. Especially, the lane change is most frequent lateral maneuver. Therefore, we focus on the lane change. To predict the future trajectory, we proposed the deep learning based prediction model. The model has a cascade structure with one classification model to predict the lane change, one regression model to predict time to lane change and two regression models to predict longitudinal and lateral deviation of the vehicle. The performance of the proposed model is validated by simulation with the test set. The results show better performance compare with the kinematics-based prediction.