Learning to Predict Lane Changes in Highway Scenarios Using Dynamic Filters On a Generic Traffic Representation

2018 ◽  
Author(s):  
Joonatan Manttari ◽  
John Folkesson ◽  
Erik Ward
Keyword(s):  
Lane Changes ◽  
Dynamic Filters

scholarly journals Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2244
Author(s):  
S. M. Yang ◽  
Y. A. Lin
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Optimal Path ◽  
Random Trees ◽  
Average Deviation ◽  
Lane Changes ◽  
Path Smoothing ◽  
Rapidly Exploring Random Trees

Safe path planning for obstacle avoidance in autonomous vehicles has been developed. Based on the Rapidly Exploring Random Trees (RRT) algorithm, an improved algorithm integrating path pruning, smoothing, and optimization with geometric collision detection is shown to improve planning efficiency. Path pruning, a prerequisite to path smoothing, is performed to remove the redundant points generated by the random trees for a new path, without colliding with the obstacles. Path smoothing is performed to modify the path so that it becomes continuously differentiable with curvature implementable by the vehicle. Optimization is performed to select a “near”-optimal path of the shortest distance among the feasible paths for motion efficiency. In the experimental verification, both a pure pursuit steering controller and a proportional–integral speed controller are applied to keep an autonomous vehicle tracking the planned path predicted by the improved RRT algorithm. It is shown that the vehicle can successfully track the path efficiently and reach the destination safely, with an average tracking control deviation of 5.2% of the vehicle width. The path planning is also applied to lane changes, and the average deviation from the lane during and after lane changes remains within 8.3% of the vehicle width.

scholarly journals Lane Change Behavior on Freeways: An Online Survey Using Video Clips

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
V. L. Knoop ◽  
M. Keyvan-Ekbatani ◽  
M. de Baat ◽  
H. Taale ◽  
S. P. Hoogendoorn
Keyword(s):  
Online Survey ◽  
Simulation Models ◽  
Lane Changes ◽  
The Road ◽  
Video Clips ◽  
Road Capacity ◽  
Change Behavior ◽  
Instrumented Vehicle ◽  
The Moment ◽  
The Right

Freeways form an important part of the road network. Yet, driving behavior on freeways, in particular lane changes and the relation with the choice of speed, is not well understood. To overcome this, an online survey has been carried out. Drivers were shown video clips, and after each clip they had to indicate what they would do after the moment the video stopped. A total of 1258 Dutch respondents completed the survey. The results show that most people have a strategy to choose a speed first and stick to that, which is the first strategy. A second, less often chosen, strategy is to choose a desired lane and adapt the speed based on the chosen lane. A third strategy, slightly less frequently chosen, is that drivers have a desired speed, but contrary to the first strategy, they increase this speed when they are in a different lane overtaking another driver. A small fraction have neither a desired speed nor a desired lane. Of the respondents 80% use the right lane if possible, and 80% avoid overtaking at the right. Also 80% give way to merging traffic. The survey was validated by 25 survey respondents also driving an instrumented vehicle. The strategies in this drive were similar to those in the survey. The findings of this work can be implemented in traffic simulation models, e.g., to determine road capacity and constraints in geometric design.

Simple Clothoid Paths for Autonomous Vehicle Lane Changes at the Limits of Handling

2013 ◽  
Author(s):  
Joseph Funke ◽  
J. Christian Gerdes
Keyword(s):  
Real Time ◽  
Autonomous Vehicle ◽  
Lane Change ◽  
Lane Changes ◽  
Entry Speed ◽  
Path Curvature

This paper demonstrates that an autonomous vehicle can perform emergency lane changes up to the limits of handling through real-time generation and evaluation of bi-elementary paths. Path curvature and friction limits determine the maximum possible speed along the path and, consequently, the feasibility of the path. This approach incorporates both steering inputs and changes in speed during the maneuver. As a result, varying path parameters and observing the maximum possible entry speed of resulting paths gives insight about when and to what extent a vehicle should brake and turn during emergency lane change maneuvers. Tests on an autonomous vehicle validate this approach for lane changes at the limits of handling.

scholarly journals Improving Usefulness of Automated Driving by Lowering Primary Task Interference through HMI Design

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Frederik Naujoks ◽  
Yannick Forster ◽  
Katharina Wiedemann ◽  
Alexandra Neukum
Keyword(s):  
Driving Simulator ◽  
Primary Task ◽  
Automated Driving ◽  
Task Interference ◽  
Driving System ◽  
Lane Changes ◽  
Speech Output ◽  
Driving Time ◽  
Standard Information ◽  
Machine Interface

During conditionally automated driving (CAD), driving time can be used for non-driving-related tasks (NDRTs). To increase safety and comfort of an automated ride, upcoming automated manoeuvres such as lane changes or speed adaptations may be communicated to the driver. However, as the driver’s primary task consists of performing NDRTs, they might prefer to be informed in a nondistracting way. In this paper, the potential of using speech output to improve human-automation interaction is explored. A sample of 17 participants completed different situations which involved communication between the automation and the driver in a motion-based driving simulator. The Human-Machine Interface (HMI) of the automated driving system consisted of a visual-auditory HMI with either generic auditory feedback (i.e., standard information tones) or additional speech output. The drivers were asked to perform a common NDRT during the drive. Compared to generic auditory output, communicating upcoming automated manoeuvres additionally by speech led to a decrease in self-reported visual workload and decreased monitoring of the visual HMI. However, interruptions of the NDRT were not affected by additional speech output. Participants clearly favoured the HMI with additional speech-based output, demonstrating the potential of speech to enhance usefulness and acceptance of automated vehicles.

New Results in Driver Steering Control Models

1977 ◽  
Vol 19 (4) ◽  
pp. 381-397 ◽  
Author(s):  
Duane T. McRuer ◽  
R. Wade Allen ◽  
David H. Weir ◽  
Richard H. Klein
Keyword(s):  
Dynamic Control ◽  
Short Review ◽  
Model Verification ◽  
System Structure ◽  
Lane Change ◽  
Vehicle Dynamic ◽  
Steering Control ◽  
Dynamic Changes ◽  
Lane Changes ◽  
Vehicle Systems

The dynamic control properties of drivers and driver/vehicle systems in steering operations have been widely investigated. This paper presents a short review of the combined compensatory, pursuit, and precognitive features needed to describe the total properties of the driver as a controller. Specific combinations of these features are associated with particular driving maneuvers. Some recent results are presented to confirm previous hypotheses and more completely quantify the models. The driver-organized system structure for regulation control is reviewed with emphasis on the loops closed and adjustments made by the driver in compensating for vehicle dynamic changes. Pursuit structures are given which describe steering control with preview and as one explanation for lane change maneuvers. Precognitive behavior is then presented as the most skilled mode utilized in rapid lane changes and other well-practiced maneuvers including obstacle avoidance. For all three categories of control, full-scale or simulator data are presented as indications of model verification.

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