Long short-term memory network is one of the most important network architectures of decision-making for self-driving vehicles. Nevertheless, the decision-making accuracy of long short-term memory network is limited, the information of the surrounding vehicles is not taken into consideration, which is critical for the decision-making of the ego vehicle, and the classification capability of long shortterm memory network is poor. In this paper, a novel network architecture called improved long short-term memory network with support vector machine classifier optimized by grasshopper optimization algorithm (GOA-ImLSTM) is proposed. Three improvements are presented in GOA-ImLSTM. Firstly, to consider the information of the surrounding vehicles, a new network architecture, used to extract vital features for selfdriving vehicles, with three parallel long short-term memory network units and a network unit serial connected according to vehicle location is designed. Secondly, to improve classification accuracy, support vector machine with stronger classification capability than softmax is introduced to accomplish the classification task. Thirdly, to promote the classification capability of support vector machine, grasshopper optimization algorithm is employed to optimize the parameters of support vector machine. Moreover, to balance exploration and exploitation ability of grasshopper optimization algorithm, dynamic weights in position movement formula are defined. The experiments indicate that GOA-ImLSTM improves the accuracy of results compared with other decision-making methods for self-driving vehicles on the Next Generation SIMulation. INDEX TERMS grasshopper optimization algorithm, long short-term memory, self-driving decisionmaking, support vector machine.
The behavior decision-making algorithm plays an important role in ensuring the safe driving of autonomous vehicles. However, existing behavior decision-making methods lack the capability to cope with future motion uncertainty in traffic, because the historical state of vehicles are not considered. This paper proposes a novel driving behavior decision-making method EnMFO-ImGRU based on Gated Recurrent Unit (GRU) and Moth-Flame Optimization algorithm (MFO). Four improvements are proposed in EnMFO-ImGRU. First, to consider the driving information of the vehicles on the road, ImGRU is designed based on a double-layer GRU. Second, to promote decisions accuracy, Support Vector Machine (SVM), which has good performance in classification problems, replaces the softmax classifier to train the output of the ImGRU. Third, to promote the classification capability of SVM, MFO is introduced to optimize the key parameters that affect the performance of SVM. Finally, to promote the optimization capability of MFO, we propose the Enhanced Moth-Flame Optimization algorithm (EnMFO). A new position updating method is proposed in EnMFO. The experimental results on the NGSIM dataset show that EnMFO-ImGRU brings higher accuracy than existing methods for the behavior decision-making results of autonomous vehicles.
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