Safe and Comfortable Automatic Lane Change for Expressway-Generate Safe and Comfortable Behavior and Motion for Automated Lane Change

摘要

Lane change maneuver is a cause for many severe highway accidents and automatic lane change has great potentials to reduce the impact of human error and number of accidents. Previous researches mostly tried to find an optimal trajectory and ignore the behavior model. As the results, these methods can be applied for simple lane change scenario and generally fail for complicated cases or in the presence of time/distance constraints. Through analysis and inspiring of human driver lane change data, we propose a multi segments lane change model to mimic the human driver for challenging scenarios. We propose a method to categorize and select the suitable behavior based on the status of surrounding vehicles. We define a cost function optimize the lateral/longitudinal lane change motion and guarantee the comfort. We developed a simulation platform and evaluated proposed automatic lane change method for challenging scenarios in the presence of time constraint and sudden changes in behavior of surrounding vehicles.