Automatic Lane Change Using Adaptive Grid Map

Sooho Woo, Jaehwan Choi, Junki Hong, Jaehyung Kim, Jaekwan Ryu, Jaejun Kim, Soon Geul Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Automatic lane change is a feature in self-driving cars where the vehicle can change lanes on its own, without driver input. It aims to improve safety and make driving more convenient for the driver. In this paper, adaptive grid and occupancy map methods are proposed for automatic lane change. Nine grids are formed based on the ego vehicle to create an active occupancy grid map on the lane change request of the driver. It is suitable for use in autonomous vehicles that require real-time calculation because it reduces the number of cases from 256 to 32 where target vehicles may exist around the ego vehicle using active occupancy grid maps. The algorithm was programmed with Matlab/Simulink, and the simulation environment was constructed using CarMaker. Simulation results show that the proposed algorithm can make safe automatic lane change even in a crowded traffic condition.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 18 - Volume 1 Proceedings of the 18th International Conference IAS18-2023
EditorsSoon-Geul Lee, Jinung An, Nak Young Chong, Marcus Strand, Joo H. Kim
PublisherSpringer Science and Business Media Deutschland GmbH
Pages71-83
Number of pages13
ISBN (Print)9783031448508
DOIs
Publication statusPublished - 2024
Event18th International Conference on Intelligent Autonomous Systems, IAS18 2023 - Suwon, Korea, Republic of
Duration: 4 Jul 20237 Jul 2023

Publication series

NameLecture Notes in Networks and Systems
Volume795
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference18th International Conference on Intelligent Autonomous Systems, IAS18 2023
Country/TerritoryKorea, Republic of
CitySuwon
Period4/07/237/07/23

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

Keywords

  • Adaptive grid
  • Automatic lane change
  • Autonomous vehicle
  • Occupancy map

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