Performance Evaluation of a Novel Vehicle Collision Avoidance Lane Change Algorithm

摘要

This study, proposes a methodology to evaluate the performance of a novel emergency lane change algorithm. The algorithm, defines a number of constraints, based on the vehicle's dynamics and environmental conditions, which must be satisfied for a safe and comfortable lane change maneuver. Inclusion of the lateral position of other vehicles on the road, the tire-road friction, and real-time ability are the main advantages of the proposed algorithm. For performance evaluation of the developed algorithm, a set of driving scenarios were designed to consider different possible traffic situations that may appear in an emergency lane change maneuver. These scenarios were implemented later in IPG CarMaker. which is a vehicle's dynamics platform. Based on the designed scenarios, the efficiency of the algorithm in collision free lane change maneuver was examined.