Safe autonomous lane changes in dense traffic
Paper i proceeding, 2017

Lane change manoeuvres are complex driving manoeuvres to automate since the vehicle has to anticipate and adapt to intentions of several surrounding vehicles. Selecting a suitable gap to move/merge into the adjacent lane and performing the lane change can be challenging, especially in dense traffic. Existing gap selection methods tend to be either cautious or opportunistic, both of which directly affect the overall availability and safety of the autonomous feature. In this paper we present a method which enables the autonomous vehicles to increase the availability of lane change manoeuvres by reducing the required margins to ensure a safe manoeuvre. The required safety margins are first calculated by making use of the steering and braking capability of the vehicle. It is then shown that this method can be used to perform autonomous lane changes in dense traffic situations with small inter-vehicle gaps. The proposed solution is evaluated by using Model Predictive Control (MPC) to plan and execute the complete motion trajectory.

Vehicle crash testing

road vehicles

Acceleration

vehicle dynamics

Autonomous vehicles

Brakes

road safety

Safety

road traffic control

Planning INSPEC: Controlled Indexing predictive control

Författare

Rajashekar Chandru

Chalmers, Signaler och system

Yuvaraj Selvaraj

Chalmers, Signaler och system

Mattias Brännström

Zenuity

Roozbeh Kianfar

Zenuity

Nikolce Murgovski

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

IEEE International Conference on Intelligent Transportation Systems-ITSC

2153-0009 (ISSN)

2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)
Yokohama, Japan,

Styrkeområden

Transport

Ämneskategorier

Geometri

Reglerteknik

DOI

10.1109/ITSC.2017.8317590