Path Generation of Lane Change in Dynamic Environments Considering Characteristics of Driver's Operation

ドライバの操作特性を考慮した動的環境下におけるレーンチェンジ経 路生成法

In autonomous driving it is necessary to generate a path of lane change which considers dynamic environments of surrounding vehicles and the characteristics of the driver’s operation. In this paper, a new path generation method of lane change is proposed by combining two dimensional relative coordinates of vehicle planar position with time coordinate of vehicle motions. The proposed method can cope with both safety and the characteristics of the driver’s operation by perfom1ing the optimization with an evaluation function including own acceleration, jerk and distances to surrounding vehicles. Some simulations show the effectiveness of the proposed method.

• Record URL:
  https://doi.org/10.11351/jsaeronbun.47.633
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
• Authors:
  • Yoshimoto, Tatsuya
  • Fukao, Takanori
  • Yokokohji, Yasuyoshi
  • Inou, Hiroshi
• Publication Date: 2016

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 633-638
• Serial:
  • Transactions of Society of Automotive Engineers of Japan
  • Volume: 47
  • Issue Number: 2
  • Publisher: Society of Automotive Engineers of Japan
  • ISSN: 0287-8321
  • EISSN: 1883-0811
  • Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Autonomous vehicle guidance; Control systems; Driving; Intelligent vehicles; Lane changing
• Uncontrolled Terms: Path generation
• Subject Areas: Highways; Operations and Traffic Management;

Filing Info

• Accession Number: 01664704
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Mar 29 2018 9:31AM