Risk-Aware Lane Selection on Highway with Dynamic Obstacles

04/08/2021
by   Sangjae Bae, et al.
0

This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not to change lanes unless highly beneficial, e.g., reducing travel time significantly or securing higher safety. Evaluating such "benefit" is a challenge, along with multiple surrounding vehicles in dynamic speed and heading with uncertainty. We propose a real-time lane-selection algorithm with careful cost considerations and with modularity in design. The algorithm is a search-based optimization method that evaluates uncertain dynamic positions of other vehicles under a continuous time and space domain. For demonstration, we incorporate a state-of-the-art motion planner framework (Neural Networks integrated Model Predictive Control) under a CARLA simulation environment.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 7

04/21/2021

A Prioritized Trajectory Planning Algorithm for Connected and Automated Vehicle Mandatory Lane Changes

We introduce a prioritized system-optimal algorithm for mandatory lane c...
01/23/2020

Trajectory Planning for Connected and Automated Vehicles: Cruising, Lane Changing, and Platooning

Autonomy and connectivity are considered among the most promising techno...
04/24/2021

MultiCruise: Eco-Lane Selection Strategy with Eco-Cruise Control for Connected and Automated Vehicles

Connected and Automated Vehicles (CAVs) have real-time information from ...
03/11/2019

Pay to change lanes: A cooperative lane-changing strategy for connected/automated driving

This paper proposes a cooperative lane changing strategy using a transfe...
09/24/2020

A New Approach for Tactical Decision Making in Lane Changing: Sample Efficient Deep Q Learning with a Safety Feedback Reward

Automated lane change is one of the most challenging task to be solved o...
12/16/2019

Benders' decomposition for freeway network design under endogenous autonomous vehicles demand

Autonomous vehicles (AVs) have the potential to provide cost-effective m...
01/30/2020

Experimental Validation of a Real-Time Optimal Controller for Coordination of CAVs in a Multi-Lane Roundabout

Roundabouts and other transportation bottlenecks may induce congestion i...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.