Lane Change Scheduling for Autonomous Vehicles

被引：32
|
作者：
Atagoziyev, Maksat [1 ]
Schmidt, Klaus W. [2 ]
Schmidt, Ece G. [1 ]
机构：
[1] Middle East Tech Univ, Dept Elect & Elect Engn, Ankara, Turkey
[2] Cankaya Univ, Mechatron Engn Dept, Ankara, Turkey
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 03期
关键词：
Autonomous vehicles; lane change; scheduling algorithms; intelligent transportation;
D O I：
10.1016/j.ifacol.2016.07.011
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：61 / 66
页数：6
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