Towards Tactical Lane Change Behavior Planning for Automated Vehicles

Recently, automated driving has more and more been transformed from an exciting vision into hands on reality by prototypes. While drivers are used to assistance and maybe even automation for driving within a lane, it is exciting to dare a step ahead: Deciding and executing tactical maneuvers like lane changes in automated vehicles without any human interaction. In this paper, the authors present their approach for tactical behavior planning for lane changes. The authors present a way to tackle perception uncertainties and how to achieve provident, prediction-based behavior planning. For this, the authors introduce a novel framework to plan in high-dimensional, mixed-integer state spaces in real-time. Their approach is evaluated not only in simulation, but also in real traffic. The implementation has recently been demonstrated to the public in the Audi A7 piloted driving concept vehicle, driving from Stanford to the Consumer Electronics Show (CES) 2015 in Las Vegas.

• Record URL:
  https://doi.org/10.1109/ITSC.2015.165
• 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 989-995
• 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: Tactical behavior planning
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01602712
• Record Type: Publication
• ISBN: 9781467365956
• Files: TRIS
• Created Date: Jun 28 2016 12:54PM