WeKhelfa, BasmaTordeux, Antoine propose the concept of multi-lane adaptive cruise controlAdaptive Cruise Control (ACC) system through an extended algorithm for the longitudinal motion planning of autonomous vehicles on highways including the prediction of lane changing events. The main idea is to couple a hidden Markov model for the detection of lane changes to the adaptive time gap car-following model for a full automation of the driving on multi-lane roads. The aim of the coupled algorithmCoupled Algorithm is to adapt the pursuit according to prediction of the lane change events. Examples of coupling are relaxing the pursuit in case of cut-in to get a smooth vehicle insertion, or reducing temporally the time gap in case of overtaking. We analyse empirically the lane changes in a trajectory database and propose coupling solutions of the car-following model to the identified lane changing events.


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    Title :

    Extended Longitudinal Motion Planning for Autonomous Vehicles on Highways Including Lane Changing Prediction


    Additional title:

    Springer Proceedings Phys.


    Contributors:

    Published in:

    Traffic and Granular Flow 2019 ; Chapter : 61 ; 495-503


    Publication date :

    2020-11-17


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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