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.

road safety

road vehicles

Autonomous vehicles

Vehicle crash testing


vehicle dynamics


road traffic control


Planning INSPEC: Controlled Indexing predictive control


Rajashekar Chandru

Chalmers, Signaler och system

Yuvaraj Selvaraj

Chalmers, Signaler och system

Mattias Brännström

Zenuity AB

Roozbeh Kianfar

Zenuity AB

Nikolce Murgovski

Chalmers, Signaler och system, System- och reglerteknik

IEEE International Conference on Intelligent Transportation Systems-ITSC

2153-0009 (ISSN)

978-1-5386-1526-3 (ISBN)

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








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