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

Mohsen Rafat, Sajjad Samiee, Shahram Azadi, Arno Eichberger

Research output: Contribution to journalArticleResearchpeer-review

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.
Original languageEnglish
Number of pages30
JournalVehicle system dynamics
Publication statusSubmitted - 2 Jan 2019

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Motion planning
Decision making
Planning

Keywords

  • Automated driving
  • Lane change
  • Path planning
  • Decision making

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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.

Research output: Contribution to journalArticleResearchpeer-review

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