Lane Change Scheduling for Autonomous Vehicles

Atagoziyev M., SCHMİDT K. W., SCHMİDT Ş. E.

14th IFAC Symposium on Control in Transportation Systems (CTS), İstanbul, Türkiye, 18 - 20 Mayıs 2016, cilt.49, ss.61-66 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 49
  • Doi Numarası: 10.1016/j.ifacol.2016.07.011
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.61-66
  • Anahtar Kelimeler: Autonomous vehicles, lane change, scheduling algorithms, intelligent transportation
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

The subject of this paper is the coordination of lane changes of autonomous vehicles on a two-lane road segment before reaching a given critical position. We first develop an algorithm that performs a lane change of a single vehicle in the shortest possible time. This algorithm is then applied iteratively in order to handle all lane changes required on the considered road segment while guaranteeing traffic safety. Various example scenarios illustrate the functionality of our algorithm. (C) 2016, IFAC (International Federation of Antomatic Control) Hosting by Elsevier Ltd. All rights reserved.