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

Trajectory planning

Automated driving

Lane change

Författare

Julia Nilsson

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

Jonatan Silvlin

Volvo

Mattias Brännström

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

Erik Coelingh

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

Jonas Fredriksson

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

IEEE Intelligent Transportation Systems Magazine

1939-1390 (ISSN)

68-78

Styrkeområden

Transport

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.1109/MITS.2016.2565718