Lane Change Control of Autonomous Vehicle with Real-time Rerouting Function

Abstract

Lane changing is a major research subject in the development of autonomous vehicles and advanced driver assistance systems. This paper thereby proposes a safe and comfort-oriented planning algorithm for autonomous ground vehicles to perform lane changes on a straight, level multi-lane driveway. The proposed algorithm covers three main issues of lane changing control including decision making, path planning and optimal path selecting. By the real time rerouting function, the algorithm is able to adapt its lane changing strategy based on traffic situation, and features condition-triggered rerouting to handle unexpected traffic situations. Its effectiveness and robustness are demonstrated by simulations.