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Designing Safe Lane-Change Maneuvers Using an Explicit Path Planner

Sharma, YR and Ratnoo, A (2021) Designing Safe Lane-Change Maneuvers Using an Explicit Path Planner. In: 17th IEEE International Conference on Automation Science and Engineering, CASE 2021, 23-2 Aug 2021, Lyon, pp. 1920-1926.

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Official URL: https://doi.org/10.1109/CASE49439.2021.9551467


This paper addresses the problem of designing safe lane changing maneuvers for an autonomous vehicle. In the presence of neighboring vehicles, the work considers all collision possibilities in the scenario. As an explicit path planner, the four parameter logistic (4PL) curve is proposed as the solution. Analytic conditions for collision avoidance with respect to the neighboring vehicles are deduced in closed-form, and are expressed in the 2 dimensional design parameter space of 4PL curve. Feasible lane changing maneuvers are represented in this space as a set of points satisfying collision avoidance, and reachability constraints. Case studies are presented for various scenarios. The proposed method offers a deterministic, and computationally efficient approach for generating multiple feasible lane changing trajectories. © 2021 IEEE.

Item Type: Conference Paper
Publication: IEEE International Conference on Automation Science and Engineering
Publisher: IEEE Computer Society
Additional Information: The copyright for this article belongs to IEEE Computer Society
Keywords: Vehicles, 2 - Dimensional; Autonomous Vehicles; Closed form; Collisions avoidance; Condition; Design parameters; Dimensional design; Lane change; Lane changing maneuver; Path planners, Collision avoidance
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 28 Nov 2021 06:50
Last Modified: 28 Nov 2021 06:50
URI: http://eprints.iisc.ac.in/id/eprint/70434

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