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Yang, Jin Ho; Choi, Woo Young; Chung, Chung Choo

Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles. (English) Zbl 07886746

Asian J. Control 23, No. 3, 1135-1145 (2021).
Summary: In this paper, we propose a lane change decision scheme using only commercial, automotive radar sensors with “DRiving Environment Assessment and decision Making (DREAM) index.” First, the index associated with a risk situation is assessed by the concept of a dynamic occupancy grid zone. The predefined distance of the local area was set to conform to the international standard of a steering function. Also, the risk assessment was predictively conducted using modeling of the relative motion with a target vehicle. Second, the index associated with a cooperative driving concept of the surrounding vehicles is proposed. To estimate the relative acceleration which is not directly measured by radar, we designed a discrete-time state estimator. We executed scenario-based experiments with test vehicles in a high-speed circuit to validate the decision scheme. Through the experiments, we observed that the DREAM index could make effective decisions, and the lane change maneuverings were performed successfully in real-world tests.
© 2020 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd

Cited in 2 Documents

MSC:

93-XX Systems theory; control

Keywords:

active safety; autonomous driving; collision risk assessment; lane change decision; occupancy grid
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References:

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