This contribution presents A-D-PolyCQP (Automated Driving using Polygon Clipping and Quadratic Programming), a framework for lane change behavior planning of automated vehicles on highways. It solves the tactical decision problem that arises through the presence of more than one lane change maneuver variant in traffic scenes. A-D-PolyCQP derives all variants deterministically using polygon clipping in spatiotemporal domain and is able to deal with lane changes of surrounding traffic participants. All variants are encoded in a directed graph. The nodes in the graph correspond to spatiotemporal free space polygons and allow the derivation of constraints for trajectory optimization in a Frenet-Serret coordinate frame. Novel, linear time-variant Time-To-Collision and Time Gap constraints based on geometric boundaries are introduced. Interaction-awareness is incorporated by forward simulation of the optimized trajectories. Finally each maneuver is assessed and features are calculated that allow the decision for one lane change maneuver by a higher-level function.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Maneuver Identification for Interaction-Aware Highway Lane Change Behavior Planning based on Polygon Clipping and Convex Optimization


    Contributors:


    Publication date :

    2019-10-01


    Size :

    601815 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Vehicle lane change maneuver in automated highway systems

    Chee, Wonshik / Tomizuka, Masayoshi | TIBKAT | 1994


    TACTICAL LANE CHANGE MODEL WITH SEQUENTIAL MANEUVER PLANNING

    Webster, Nathan A. / Suzuki, Takahiro / Kuwahara, Masao | Taylor & Francis Verlag | 2008




    Maneuver planning for urgent lane changes

    JAFARI TAFTI SAYYED ROUHOLLAH / GUPTA PINAKI | European Patent Office | 2022

    Free access