Towards a Decision-Making Algorithm for Automatic Lane Change Manoeuvre Considering Traffic Dynamics

Sajjad Samiee; Shahram Azadi; Reza Kazemi; Arno Eichberger

doi:10.7307/ptt.v28i2.1811

Sajjad Samiee K. N. Toosi University of Technology & Graz University of Technology
Shahram Azadi K. N. Toosi University of Technology
Reza Kazemi K. N. Toosi University of Technology
Arno Eichberger Graz University of Technology

DOI: https://doi.org/10.7307/ptt.v28i2.1811

Keywords: autonomous driving, lane change manoeuvre, decision making, Drive Assistance System,

Abstract

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 the
critical times and a model named TUG-LCA is presented based on the corresponding results.

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Sajjad Samiee, K. N. Toosi University of Technology & Graz University of Technology

PhD Student, Institute of Automotive Engineering

Shahram Azadi, K. N. Toosi University of Technology

Faculty of Mechanical Engineering

Reza Kazemi, K. N. Toosi University of Technology

Faculty of Mechanical Engineering

Arno Eichberger, Graz University of Technology

Institute of Automotive Engineering

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