Lane Change Maneuvers for Automated Vehicles
Artikel i vetenskaplig tidskrift, 2017

By considering a lane change maneuver as primarily a longitudinal motion planning problem, this paper presents a lane change maneuver algorithm with a pragmatic approach to determine an inter-vehicle traffic gap and time instance to perform the maneuver. The proposed approach selects an appropriate inter-vehicle traffic gap and time instance to perform the lane change maneuver by simply estimating whether there might exist a longitudinal trajectory which allows the automated vehicle to safely perform the maneuver. The lane change maneuver algorithm then proceeds to solve two loosely coupled convex quadratic programs to obtain the longitudinal trajectory to position the automated vehicle in the selected inter-vehicle traffic gap at the desired time instance and the corresponding lateral trajectory. Simulation results demonstrate the capability of the proposed approach to select an appropriate inter-vehicle traffic gap and time instance to initialize the lateral motion of a lane change maneuver in various traffic scenarios. The real-time ability of the lane change maneuver algorithm to generate safe and smooth trajectories, is shown by experimental results of a Volvo V60 performing automated lane change maneuvers on a test track.

Automated Driving

Model Predictive Control

Lane Change

Autonomous Driving

Trajectory Planning

Författare

Julia Nilsson

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Volvo Cars

Mattias Brännström

Volvo Cars

Erik Coelingh

Volvo Cars

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Jonas Fredriksson

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

IEEE Transactions on Intelligent Transportation Systems

1524-9050 (ISSN)

Vol. 18 5 1087-1096

Styrkeområden

Transport

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.1109/TITS.2016.2597966