Situation Assessment in Tactical Lane Change Behavior Planning for Automated Vehicles

Automated driving within a lane is a fascinating experience already. However, more exciting but also technically more challenging is to dare the next step of automating tactical behavior decisions for lane changes, as well. In this paper, the authors present their approach for situation assessment in tactical behavior planning for lane changes, whether lane changes are beneficial and/or possible. The authors present a way to tackle perception uncertainties and how to monitor the system's abilities and current skills. This is achieved by a dynamic Bayesian network and an unscented variance transform. The authors' approach is evaluated not only in a simulation, but also in real traffic. Their implementation has recently been demonstrated to the public in the Audi A7 piloted driving concept vehicle, driving 550 miles from Stanford to the Consumer Electronics Show (CES) 2015 in Las Vegas.

• Record URL:
  https://doi.org/10.1109/ITSC.2015.163
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9781467365956
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Ulbrich, Simon
  • Maurer, Markus
• Conference:
  • 18th International IEEE Conference on Intelligent Transportation Systems (ITSC)
  • Location: Canary Islands , Spain
  • Date: 2015-9-15 to 2015-9-18
• Publication Date: 2015

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 975-981
• Monograph Title: 18th International IEEE Conference on Intelligent Transportation Systems (ITSC 2015)

Subject/Index Terms

• TRT Terms: Field tests; Intelligent vehicles; Lane changing; Simulation
• Uncontrolled Terms: Bayesian networks; Situation assessment; Tactical behavior planning
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01602713
• Record Type: Publication
• ISBN: 9781467365956
• Files: TRIS
• Created Date: Jun 28 2016 12:54PM