To reduce the influences of outliers on support vector machine(SVM) classification problem,a new tangent loss function was constructed.Since the tangent loss function was not smooth in some interval,a smoothing functi...To reduce the influences of outliers on support vector machine(SVM) classification problem,a new tangent loss function was constructed.Since the tangent loss function was not smooth in some interval,a smoothing function was used to approximate it in this interval.According to this loss function,the corresponding tangent SVM(TSVM) was got.The experimental results show that TSVM is less sensitive to outliers than SVM.So the proposed new loss function and TSVM are both effective.展开更多
On highways,vehicles that swerve out of their lane due to sideslip can pose a serious threat to the safety of autonomous vehicles.To ensure their safety,predicting the sideslip trajectories of such vehicles is crucial...On highways,vehicles that swerve out of their lane due to sideslip can pose a serious threat to the safety of autonomous vehicles.To ensure their safety,predicting the sideslip trajectories of such vehicles is crucial.However,the scarcity of data on vehicle sideslip scenarios makes it challenging to apply data-driven methods for prediction.Hence,this study uses a physical model-based approach to predict vehicle sideslip trajectories.Nevertheless,the traditional physical model-based method relies on constant input assumption,making its long-term prediction accuracy poor.To address this challenge,this study presents the time-series analysis and interacting multiple model-based(IMM)sideslip trajectory prediction(TSIMMSTP)method,which encompasses time-series analysis and multi-physical model fusion,for the prediction of vehicle sideslip trajectories.Firstly,we use the proposed adaptive quadratic exponential smoothing method with damping(AQESD)in the time-series analysis module to predict the input state sequence required by kinematic models.Then,we employ an IMM approach to fuse the prediction results of various physical models.The implementation of these two methods allows us to significantly enhance the long-term predictive accuracy and reduce the uncertainty of sideslip trajectories.The proposed method is evaluated through numerical simulations in vehicle sideslip scenarios,and the results clearly demonstrate that it improves the long-term prediction accuracy and reduces the uncertainty compared to other model-based methods.展开更多
基金National Natural Science Foundations of China(Nos.61272015,11201123)the Scientific Research Foundation for the Doctor of Henan University of Science&Technology,China(No.09001476)School Foundation of Henan University of Science&Technology,China(No.2012QN011)
文摘To reduce the influences of outliers on support vector machine(SVM) classification problem,a new tangent loss function was constructed.Since the tangent loss function was not smooth in some interval,a smoothing function was used to approximate it in this interval.According to this loss function,the corresponding tangent SVM(TSVM) was got.The experimental results show that TSVM is less sensitive to outliers than SVM.So the proposed new loss function and TSVM are both effective.
基金supported by the National Natural Science Foundation of China(Grant No.51975310).
文摘On highways,vehicles that swerve out of their lane due to sideslip can pose a serious threat to the safety of autonomous vehicles.To ensure their safety,predicting the sideslip trajectories of such vehicles is crucial.However,the scarcity of data on vehicle sideslip scenarios makes it challenging to apply data-driven methods for prediction.Hence,this study uses a physical model-based approach to predict vehicle sideslip trajectories.Nevertheless,the traditional physical model-based method relies on constant input assumption,making its long-term prediction accuracy poor.To address this challenge,this study presents the time-series analysis and interacting multiple model-based(IMM)sideslip trajectory prediction(TSIMMSTP)method,which encompasses time-series analysis and multi-physical model fusion,for the prediction of vehicle sideslip trajectories.Firstly,we use the proposed adaptive quadratic exponential smoothing method with damping(AQESD)in the time-series analysis module to predict the input state sequence required by kinematic models.Then,we employ an IMM approach to fuse the prediction results of various physical models.The implementation of these two methods allows us to significantly enhance the long-term predictive accuracy and reduce the uncertainty of sideslip trajectories.The proposed method is evaluated through numerical simulations in vehicle sideslip scenarios,and the results clearly demonstrate that it improves the long-term prediction accuracy and reduces the uncertainty compared to other model-based methods.
