Implementation of the Human-Like Lane Changing Driver Model Based on Bi-LSTM

Table 6

Parameters for the MPC controller.

Parameter	Definition	Value
	Control increment constraint
	Control volume constraint
	Sideslip angle constraint
	Tire side slip angle constraint
	Vehicle attachment condition soft constraint
	Road adhesion coefficient
T	Sampling period	T = 0.05s
Np	Prediction horizon	Np = [1, 50]
Nc	Control horizon	Nc = [1, 50]
	Weight coefficient of relaxation factor
	Weight matrix