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 language | English |
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Title of host publication | Intelligent Autonomous Systems 18 - Volume 1 Proceedings of the 18th International Conference IAS18-2023 |
Editors | Soon-Geul Lee, Jinung An, Nak Young Chong, Marcus Strand, Joo H. Kim |
Publisher | Springer Science and Business Media Deutschland GmbH |
Pages | 71-83 |
Number of pages | 13 |
ISBN (Print) | 9783031448508 |
DOIs | |
Publication status | Published - 2024 |
Event | 18th International Conference on Intelligent Autonomous Systems, IAS18 2023 - Suwon, Korea, Republic of Duration: 4 Jul 2023 → 7 Jul 2023 |
Publication series
Name | Lecture Notes in Networks and Systems |
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Volume | 795 |
ISSN (Print) | 2367-3370 |
ISSN (Electronic) | 2367-3389 |
Conference
Conference | 18th International Conference on Intelligent Autonomous Systems, IAS18 2023 |
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Country/Territory | Korea, Republic of |
City | Suwon |
Period | 4/07/23 → 7/07/23 |
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