If, When, and How to Perform Lane Change Maneuvers on Highways
Artikel i vetenskaplig tidskrift, 2016

Advanced driver assistance systems or highly automated driving systems for lane change maneuvers are expected to enhance highway traffic safety, transport efficiency, and driver comfort. To extend the capability of current advanced driver assistance systems, and eventually progress to highly automated highway driving, the task of automatically determine if, when, and how to perform a lane change maneuver, is essential. This paper thereby presents a low-complexity lane change maneuver algorithm which determines whether a lane change maneuver is desirable, and if so, selects an appropriate inter-vehicle traffic gap and time instance to perform the maneuver, and calculates the corresponding longitudinal and lateral control trajectory. The ability of the proposed lane change maneuver algorithm to make appropriate maneuver decisions and generate smooth and safe lane change trajectories in various traffic situations is demonstrated by simulation and experimental results.

Autonomous driving


Lane change

Trajectory planning

Automated driving


Julia Nilsson

Chalmers, Signaler och system, System- och reglerteknik

Jonatan Silvlin

Volvo Cars

Mattias Brännström

Chalmers, Signaler och system, System- och reglerteknik

Erik Coelingh

Chalmers, Signaler och system, System- och reglerteknik

Jonas Fredriksson

Chalmers, Signaler och system, System- och reglerteknik

IEEE Intelligent Transportation Systems Magazine

19391390 (ISSN) 19411197 (eISSN)

Vol. 8 4 68-78 7637091




Robotteknik och automation




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