Abstract
A lane change is one of the most important driving scenarios for autonomous driving vehicles. This paper proposes a safe and comfort-oriented algorithm for an autonomous vehicle to perform lane changes on a straight and level road. A simplified Gray Prediction Model is designed to estimate the driving status of surrounding vehicles, and time-variant safety margins are employed during the trajectory planning to ensure a safe maneuver. The algorithm is able to adapt its lane changing strategy based on traffic situation and passenger demands, and features condition-triggered rerouting to handle unexpected traffic situations. The concept of dynamic safety margins with different settings of parameters gives a customizable feature for the autonomous lane changing control. The effect of the algorithm is verified within a self-developed traffic simulation system.
Highlights
Lane changing (LC) is among the most frequent scenarios encountered in daily driving, and considered as one of most important research topics for autonomous vehicles and advanced driver assistance systems [1]
The lane change maneuver algorithm proposed in this paper considers both the longitudinal and the lateral planning in a dynamic traffic
A complete algorithm flow for lane change maneuver are considered with three parts: gap evaluation, trajectory planning and trajectory correction
Summary
Lane changing (LC) is among the most frequent scenarios encountered in daily driving, and considered as one of most important research topics for autonomous vehicles and advanced driver assistance systems [1]. The papers [12,13] attempt to generate large numbers of trajectory candidates by the state-space sampling method, and choose the best one based on collision detection and kinematic limitations This method has good effectiveness and robustness, but the computation complexity would be a challenge for the real-time implementation. A balance should be found between the algorithm complexity and efficiency To overcome these limitations, the lane change maneuver algorithm proposed in this paper considers both the longitudinal and the lateral planning in a dynamic traffic. The time-variant safety margins is designed with the longitudinal and lateral constraints to avoid collision This method can improve the success rate of lane change, and reduce the computational complexity.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
