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Research on vehicle hazardous cut-in strategy used in autonomous driving test
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Yang ZHOU1, 2, Yunxing CHEN2, 3, **, Ling WU1
China Safety Science Journal | 2025, 35(1) : 112 - 119
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China Safety Science Journal | 2025, 35(1): 112-119
Safety engineering technology
Research on vehicle hazardous cut-in strategy used in autonomous driving test
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Yang ZHOU1, 2, Yunxing CHEN2, 3, **, Ling WU1
Affiliations
  • 1 School of Vehicle Engineering,Xi'an Aeronautical Institute,Xi'an Shaanxi 710077,China
  • 2 Hubei Key Laboratory of Power System Design and Test for Electrical Vehicle,Hubei University of Arts and Science,Xiangyang Hubei 441053,China
  • 3 School of Automotive and Traffic Engineering,Hubei University of Arts and Science,Xiangyang Hubei 441053,China
Published: 2025-01-28 doi: 10.16265/j.cnki.issn1003-3033.2025.01.0540
Outline
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To improve the interaction ability of traffic vehicles in the cut-in scenario,a method for constructing a vehicle hazardous cut-in strategy based on deep reinforcement learning was proposed. Firstly,a simulated environment was built based on scalable multi-agent reinforcement learning training school(SMARTS) simulation platform. Then,twin delayed deep deterministic policy gradients (TD3) algorithm was adopted to train an agent to cut in a randomly chosen target vehicle hazardously. The algorithm was compared with proximal policy optimization (PPO) and deep deterministic policy gradient (DDPG) algorithms. The trained model was tested in seven different scenarios with varying traffic densities. Finally,a multi-agent testing environment was built,and the trained model was applied to validate intelligent driving strategies. The results show that the success rate of hazardous cut-ins reaches 80.35% in model training with TD3 algorithm,outperforming both comparative methods. In model testing,except for the 2 700 vehicle/h test scenario,the model achieves a hazardous cut-in success rate of over 80% in the other three test scenarios that were not used in training,demonstrating good generalization ability. Meanwhile,the time to collision values between the ego vehicle and the target vehicle at the moment of lane changes are concentrated within the range of 0 to 6 seconds,with 95% falling within this bracket. The proportions of time to collision values in the intervals of (0,2],(2,4],(4,6]s are 60%,30%,and 5% respectively,covering test conditions with different collision risk. In the validation of intelligent driving strategies,the traffic vehicle controlled by the trained model can actively perform cut-ins in front of the test vehicles,exposing it to the risk of a rear-end collision and helping in identifying safety vulnerabilities in intelligent driving strategies.

autonomous driving  /  vehicle hazardous cut-in  /  virtual tests  /  hazardous scenarios  /  reinforcement learning
Yang ZHOU, Yunxing CHEN, Ling WU. Research on vehicle hazardous cut-in strategy used in autonomous driving test[J]. China Safety Science Journal, 2025 , 35 (1) : 112 -119 . DOI: 10.16265/j.cnki.issn1003-3033.2025.01.0540
Year 2025 volume 35 Issue 1
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Article Info
doi: 10.16265/j.cnki.issn1003-3033.2025.01.0540
  • Receive Date:2024-08-11
  • Online Date:2025-07-05
  • Published:2025-01-28
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  • Received:2024-08-11
  • Revised:2024-10-20
Funding
Affiliations
    1 School of Vehicle Engineering,Xi'an Aeronautical Institute,Xi'an Shaanxi 710077,China
    2 Hubei Key Laboratory of Power System Design and Test for Electrical Vehicle,Hubei University of Arts and Science,Xiangyang Hubei 441053,China
    3 School of Automotive and Traffic Engineering,Hubei University of Arts and Science,Xiangyang Hubei 441053,China
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