Simultaneous intelligent anticipation and control of follower vehicle observing exiting lane changer

Farzam Tajdari, Alireza Golgouneh, Ali Ghaffari, Alireza Khodayari, Ali Kmali, Niloofar Hosseinkhani

Research output: Contribution to journalArticleScientificpeer-review


Despite the advances related to car-following and lane-changing behaviors, the influence of lane-changing on the car-following models, which results in a complex transient merging behavior, has not comprehensively been investigated. This paper presents a novel fuzzy controller based on a human factor to optimize the Follower Vehicle (FV) behavior subject to safety, comfort, and convenient traveled time in the complex behavior where the Lane Changer (LC) vehicle exits the temporary lane. The factor enables the controller to mimic the current driver behavior in terms of maximum pleasantness of drive. Accordingly, the data of real-life experiments were used to design the human-like fuzzy controller, to build a predictive model to suggest the appropriate acceleration, velocity, and travel distance. At best, the correlation coefficient of 0.93 and the Root Mean Square Error (RMSE) of 0.71 were achieved for modeling using the adaptive Neuro-Fuzzy Inference System (ANFIS) utilizing Gaussian function as a membership function. Furthermore, to evaluate the robustness of the controller to uncertainties and unknown disturbances for real-time driving experiments, a test-bed was fabricated to mount the feedback sensors, including vision, accelerometer, and distance measurement sensors. The results of running the controller in various driving scenarios showed 70% and 38% improvements in safety and ride comfort, respectively. The proposed intelligent controller is intended to be used for vehicle route guidance and on urban highways.

Original languageEnglish
Pages (from-to)8567-8577
Number of pages11
JournalIEEE Transactions on Vehicular Technology
Issue number9
Early online date26 Jul 2021
Publication statusPublished - Sep 2021
MoE publication typeA1 Journal article-refereed


  • Biological system modeling
  • Car-following behavior
  • Comfort
  • Computational modeling
  • Human factors
  • Human-like fuzzy controller
  • Lane-changing behavior
  • Merging
  • Predictive models
  • Safety
  • Vehicles


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