This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not to change lanes unless highly beneficial, e.g., reducing travel time significantly or securing higher safety. Evaluating such “benefit” is a challenge, along with multiple surrounding vehicles in dynamic speed and heading with uncertainty. We propose a realtime lane-selection algorithm with careful cost considerations and with modularity in design. The algorithm is a search-based optimization method that evaluates uncertain dynamic positions of other vehicles under a continuous time and space domain. For demonstration, we incorporate a state-of-the-art motion planner framework (Neural Networks integrated Model Predictive Control) under a CARLA simulation environment.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Risk-Aware Lane Selection on Highway with Dynamic Obstacles


    Contributors:


    Publication date :

    2021-07-11


    Size :

    1331258 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Highway Lane Change Assistant

    Ruder, M. / Enkelmann, W. / Garnitz, R. et al. | British Library Conference Proceedings | 2003


    Eight lane dynamometer highway

    Lewis, O.G. / Risher, Jr., R.R. / Wilson, J.A. | Engineering Index Backfile | 1959


    SimToll: A Highway Toll, Lane Selection, and Traffic Modeling Dataset

    Al-Mousa, Amjed / Alqudah, Rajaa / Faza, Ayman | Springer Verlag | 2023


    Highway Lane Change Assistant

    Ruder, M. / Enkelmann, W. / Garnitz, R. | IEEE | 2002