Abstract: Aiming at the information overlap between indicators in the lane change trajectory evaluation and the subjective problem in the setting of indicator weights, a method for selecting evaluation indicators based on correlation analysis and factor analysis was proposed. Firstly, 11 evaluation indicators that characterized comfort, efficiency, smoothness, ecology and safety were selected from 16 parameters. Then, analytic hierarchy process was used to calculate subjective weights of indicators, group decision theory was used to calculate expert weights, and entropy weight method was used to calculate objective weights of indicators. Therefore, an index weight setting method combining analytic hierarchy process, group decision theory and entropy weight method was proposed. The weights of safety, efficiency, comfort, ecology and smoothness were calculated to be 0.73, 0.15, 0.06, 0.04 and 0.02 respectively. Moreover, the lane change trajectory evaluation system was established and used to evaluate the lane change trajectory obtained by driving simulation. The results show that the proposed lane change trajectory evaluation system is relatively comprehensive and reduces the overlap of information between indicators, which combines subjective expert experience and objective data information to make the evaluation results more reasonable. Sorting the importance of trajectory performance can provide a reference for the tendency to focus when setting constraints in trajectory planning; the constructed lane change trajectory evaluation system and the proposed evaluation method provide a reference for lane change trajectory evaluation.

Key words: lane change trajectory evaluation, factor analysis, group decision theory, entropy method

摘要： 针对换道轨迹评价中指标间的信息重叠和指标权重设定的主观性问题，提出了基于相关性分析和因子分析的评价指标选取方法，从16个参数中选出了表征舒适性、高效性、平顺性、生态性和安全性的11个评价指标；运用层次分析法计算指标主观权重，运用群决策理论计算专家权重，运用熵权法计算指标客观权重，从而提出层次分析法、群决策理论和熵权法相结合的指标权重设定方法，计算得出安全性、高效性、舒适性、生态性、平顺性的权重分别为0.73、0.15、0.06、0.04、0.02,从而建立换道轨迹评价体系，并用该体系对驾驶模拟获取的换道轨迹进行了评价。结果表明，提出的换道轨迹评价体系较为全面且减少了指标间的信息重叠，综合了主观上的专家经验和客观上的数据信息使评价结果更为合理，对轨迹性能的重要性排序可为轨迹规划中设置约束条件时的侧重倾向提供参考；构建的换道轨迹评价体系和提出的评价方法为换道轨迹评价提供了参考。

关键词: 换道轨迹评价, 因子分析, 群决策理论, 熵权法