Speed estimation model during lane-changing decision

In order to research the driver's estimation characteristic for rear-vehicle speed during lane-changing decision, small passenger car was used as test platform and established by using microwave radar, vehicle CAN-bus data logger, audio-video monitoring system.15 drivers were recruited, and the estimation test of rear-vehicle speed was carried out in a normal highway.The speeds of test vehicle were set as 60, 70, 80, 90km·h^-1 separately, and 1 625 sets of data were obtained finally.The impact characteristics of relative speed, rear-vehicle speed, and relative distance on driver's speed estimation behavior were analyzed by using significance analysis method.A driver's speed estimation model was established by using multiple linear regression theory, and the model was examined.Analysis result shows that 60% of absolute values of speed estimate errors are no more than 10km·h^-1, and the driver's speed estimation error follows a normal distribution.Driver's speed estimation error decreases with the increase of relative speed and rear-vehicle speed, when the relative speed or rear-vehicle speed is lower, rear-vehicle speed is overestimated, and when the relative speed or rear-vehicle's speed is higher, rear-vehicle speed is underestimated.When the relative distance of vehicles increase, the driver's speed estimationerror change very small.However, when the relative distance is smaller, rear-vehicle speed is overestimated by driver.The average estimation errors of speed estimation model is-0.56km·h^-1, so the model is feasible.