Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles

2020 ◽  
Author(s):  
Jin Ho Yang ◽  
Woo Young Choi ◽  
Chung Choo Chung
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles ◽  
Lane Change ◽  
Environment Assessment ◽  
Change System

scholarly journals A Game Theory-Based Approach for Modeling Autonomous Vehicle Behavior in Congested, Urban Lane-Changing Scenarios

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1523
Author(s):  
Nikita Smirnov ◽  
Yuzhou Liu ◽  
Aso Validi ◽  
Walter Morales-Alvarez ◽  
Cristina Olaverri-Monreal
Keyword(s):  
Game Theory ◽  
Decision Making ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Urban Traffic ◽  
Road User ◽  
Lane Change ◽  
Traffic Light ◽  
User Interactions ◽  
Lane Changing

Autonomous vehicles are expected to display human-like behavior, at least to the extent that their decisions can be intuitively understood by other road users. If this is not the case, the coexistence of manual and autonomous vehicles in a mixed environment might affect road user interactions negatively and might jeopardize road safety. To this end, it is highly important to design algorithms that are capable of analyzing human decision-making processes and of reproducing them. In this context, lane-change maneuvers have been studied extensively. However, not all potential scenarios have been considered, since most works have focused on highway rather than urban scenarios. We contribute to the field of research by investigating a particular urban traffic scenario in which an autonomous vehicle needs to determine the level of cooperation of the vehicles in the adjacent lane in order to proceed with a lane change. To this end, we present a game theory-based decision-making model for lane changing in congested urban intersections. The model takes as input driving-related parameters related to vehicles in the intersection before they come to a complete stop. We validated the model by relying on the Co-AutoSim simulator. We compared the prediction model outcomes with actual participant decisions, i.e., whether they allowed the autonomous vehicle to drive in front of them. The results are promising, with the prediction accuracy being 100% in all of the cases in which the participants allowed the lane change and 83.3% in the other cases. The false predictions were due to delays in resuming driving after the traffic light turned green.

scholarly journals Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Tao Peng ◽  
Li-li Su ◽  
Zhi-wei Guan ◽  
Hai-jing Hou ◽  
Jun-kai Li ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Tracking Control ◽  
Control Method ◽  
Lane Change ◽  
Highway Traffic ◽  
Rainy Weather ◽  
Adverse Weather ◽  
Tracking Controller ◽  
The Impact ◽  
Change System

In this study, we propose an adaptive path planning model and tracking control method for collision avoidance and lane-changing manoeuvres on highways in rainy weather. Considering the human-vehicle-road interaction, we developed an adaptive lane change system that consists of an intelligent trajectory planning and tracking controller. Gaussian distribution was introduced to evaluate the impact of rain on the pavement characteristics and deduce adaptive lane-change trajectories. Subsequently, a score-based decision mechanism and multilevel autonomous driving mode that considers safety, comfort, and efficiency were proposed. A tracking controller was designed using a linearised model predictive control method. Finally, using simulated scenarios, the feasibility and effectiveness of the proposed method were demonstrated. The results obtained herein are a valuable resource that can be used to develop an intelligent lane change system for autonomous vehicles and can help improve highway traffic safety and efficiency in adverse weather conditions.

Multi-Cameras based Decision Making at Mini-Roundabouts for Autonomous Vehicles

2019 ◽  
Author(s):  
Weichao Wang ◽  
Quang A Nguyen ◽  
Paul Wai Hing Chung ◽  
Qinggang Meng
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles

scholarly journals Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 4315-4334
Author(s):  
Jinsoo Kim ◽  
Jahng-Hyon Park ◽  
Kyung-Young Jhang
Keyword(s):  
Vehicle Control ◽  
Lane Change ◽  
Change System

Lane change decision planning for autonomous vehicles

2020 ◽  
Author(s):  
Kangqiang Ouyang ◽  
Yong Wang ◽  
Yanqiang Li ◽  
Yunhai Zhu
Keyword(s):  
Autonomous Vehicles ◽  
Lane Change
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