[Submitted on 21 Oct 2026]
Title:Decision Making and Ride Comfort Evaluation Based on Lane-Change Prediction for Autonomous Vehicles
View a PDF of the paper titled Decision Making and Ride Comfort Evaluation Based on Lane-Change Prediction for Autonomous Vehicles, by Mohamed Manzour and 3 other authors
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Abstract:Predicting surrounding vehicles' lane-change intentions enables autonomous vehicles to anticipate potential hazards and respond proactively rather than relying solely on reactive maneuvers. This study investigates the benefits of integrating lane-change prediction, based on knowledge graph embeddings and Bayesian inference, into autonomous vehicle decision-making. Three driving strategies are evaluated in risky merging scenarios simulated in CARLA: reactive driving, prediction-based longitudinal action, and prediction-based lateral action. The proposed prediction model anticipates the surrounding vehicle's lane change approximately 3-4 seconds before its occurrence, allowing the ego vehicle to adjust its behavior accordingly. In the representative simulation records, reactive driving results in a collision accompanied by aggressive deceleration. In contrast, prediction-based longitudinal action initiates early braking to establish a safe gap, while prediction-based lateral action performs a lane change when a safe adjacent lane is available. Both predictive strategies avoid collisions in the evaluated records. Compared with reactive driving, peak deceleration before impact is reduced by 31.5% with longitudinal action and 91.0% with lateral action. Additionally, an ISO 2631-1-based horizontal vibration estimate is used to provide a ride comfort assessment. Overall, the results highlight the potential of lane-change prediction to support safer and smoother driving through proactive decision-making, with additional insights into ride comfort provided by vibration-based estimates.
Subjects:
Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)
Cite as: arXiv:2610.30528 [cs.RO]
(or arXiv:2610.30528v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.30528
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Mohamed Manzour [view email] [v1] Wed, 21 Oct 2026 23:22:49 UTC (5,514 KB)
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View a PDF of the paper titled Decision Making and Ride Comfort Evaluation Based on Lane-Change Prediction for Autonomous Vehicles, by Mohamed Manzour and 3 other authors
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