A Novel Real Time Flexible Lane Change Method (RFLC) in Complicated Dynamic Environment for Automated Vehicles

Mohsen Rafat, Sajjad Samiee, Shahram Azadi, Arno Eichberger

Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

Abstract

Decision making and path planning in case of highly transient dynamics of the surrounding as well as the effect of road condition are the issues that are not completely solved in this system. The goal is to perform a safe and comfortable lane change that includes real-time re-planning capabilities. In this paper, a novel structure for path planning and decision making part of a vehicle automatic lane change has been introduced which comprehensively considers both longitudinal and lateral dynamics of the vehicle. The presented method is able to perform re-planning even in the middle of a lane change maneuver according to new traffic condition. Inclusion of the dynamics of all involved vehicles and providing real-time performance are the other advantages of the proposed system. The algorithm has been simulated and various scenarios have been carried out to evaluate the efficiency of the system. The results show that the system has completely acceptable performance.
Originalspracheenglisch
Seitenumfang30
FachzeitschriftVehicle system dynamics
PublikationsstatusEingereicht - 2 Jan 2019

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Motion planning
Decision making
Planning

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    A Novel Real Time Flexible Lane Change Method (RFLC) in Complicated Dynamic Environment for Automated Vehicles. / Rafat, Mohsen; Samiee, Sajjad; Azadi, Shahram; Eichberger, Arno.

    in: Vehicle system dynamics, 02.01.2019.

    Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

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    abstract = "Decision making and path planning in case of highly transient dynamics of the surrounding as well as the effect of road condition are the issues that are not completely solved in this system. The goal is to perform a safe and comfortable lane change that includes real-time re-planning capabilities. In this paper, a novel structure for path planning and decision making part of a vehicle automatic lane change has been introduced which comprehensively considers both longitudinal and lateral dynamics of the vehicle. The presented method is able to perform re-planning even in the middle of a lane change maneuver according to new traffic condition. Inclusion of the dynamics of all involved vehicles and providing real-time performance are the other advantages of the proposed system. The algorithm has been simulated and various scenarios have been carried out to evaluate the efficiency of the system. The results show that the system has completely acceptable performance.",
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    AU - Samiee, Sajjad

    AU - Azadi, Shahram

    AU - Eichberger, Arno

    PY - 2019/1/2

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    AB - Decision making and path planning in case of highly transient dynamics of the surrounding as well as the effect of road condition are the issues that are not completely solved in this system. The goal is to perform a safe and comfortable lane change that includes real-time re-planning capabilities. In this paper, a novel structure for path planning and decision making part of a vehicle automatic lane change has been introduced which comprehensively considers both longitudinal and lateral dynamics of the vehicle. The presented method is able to perform re-planning even in the middle of a lane change maneuver according to new traffic condition. Inclusion of the dynamics of all involved vehicles and providing real-time performance are the other advantages of the proposed system. The algorithm has been simulated and various scenarios have been carried out to evaluate the efficiency of the system. The results show that the system has completely acceptable performance.

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    KW - Lane change

    KW - Path planning

    KW - Decision making

    M3 - Article

    JO - Vehicle system dynamics

    JF - Vehicle system dynamics

    SN - 0042-3114

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