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
Decision-making
Lane change
Trajectory planning
Automated driving