This paper proposes a novel algorithm for decision-making on autonomous lane change manoeuvre in vehicles. The proposed approach 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 manoeuvre. Inclusion of the lateral position of other vehicles on the road and the tyre-road friction are the main advantages of the proposed algorithm. To develop the lane change manoeuvre decision-making algorithm, first, the equations for the lateral movement of the vehicle in terms of manoeuvre time are produced. Then, the critical manoeuvring time is calculated on the basis of the constraints. Finally, the decision is made on the feasibility of carrying out the manoeuvre by comparing the critical times. Numerous simulations, taking into account the tyre-road friction and vehicles’ inertia and velocity, are conducted to compute thecritical times and a model named TUG-LCA is presented based on the corresponding results.
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