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Lane Change Maneuvers for Automated Vehicles

Julia Nilsson (Institutionen för signaler och system, Mekatronik) ; Mattias Brännström (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik) ; Erik Coelingh (Institutionen för signaler och system, Mekatronik)
IEEE transactions on intelligent transportation systems (1524-9050). (2016)
[Artikel, refereegranskad vetenskaplig]

By considering a lane change maneuver as primarily a longitudinal motion planning problem, this paper presents a lane change maneuver algorithm with a pragmatic approach to determine an inter-vehicle traffic gap and time instance to perform the maneuver. The proposed approach selects an appropriate inter-vehicle traffic gap and time instance to perform the lane change maneuver by simply estimating whether there might exist a longitudinal trajectory which allows the automated vehicle to safely perform the maneuver. The lane change maneuver algorithm then proceeds to solve two loosely coupled convex quadratic programs to obtain the longitudinal trajectory to position the automated vehicle in the selected inter-vehicle traffic gap at the desired time instance and the corresponding lateral trajectory. Simulation results demonstrate the capability of the proposed approach to select an appropriate inter-vehicle traffic gap and time instance to initialize the lateral motion of a lane change maneuver in various traffic scenarios. The real-time ability of the lane change maneuver algorithm to generate safe and smooth trajectories, is shown by experimental results of a Volvo V60 performing automated lane change maneuvers on a test track.

Nyckelord: Autonomous Driving, Automated Driving, Lane Change, Trajectory Planning, Model Predictive Control



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Denna post skapades 2016-10-24.
CPL Pubid: 243889

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Transport
Robotteknik och automation
Reglerteknik

Chalmers infrastruktur