Two partial functions of the emergency stop assistant are presented. The assistance system performs highly automated lane changes, even in complex traffic situations. In the first part, a strategy for actively approaching traffic gaps is presented, which is required to facilitate lane changes within increasing traffic density. For the strategy, a holistic approach is chosen, which weights and combines the different factors for the gap selection depending on the current situation. In the second part, the lane change abortion strategy of the emergency stop assistant is presented, which is based on a hybrid automaton. This facilitates a discrete subdivision of the continuous abortion criteria, depending on the position of the host vehicle, and thus a separate parameterization of the criteria. The strategies presented in this paper facilitate fully automatic lane change maneuvers in complex traffic situations. The LCGA-subsystem facilitates active gap approaching maneuvers. Furthermore, this system reduces the required time for finding and approaching traffic gabs and conducting a lane change while considering the driving safety in its holistic approach. Lane change abortion strategies avoid collisions, which are induced by unforeseeable events. Consequently, a started lane change maneuver can be aborted and the host vehicle drives back to the original starting lane. The results in this paper were obtained from test scenarios within a driving simulator. The other vehicles in the traffic scenario contain driver models in order to reproduce realistic human driving behavior in this simulated environment. This facilitates realistic test scenarios for the previously mentioned strategies. For an integration of these systems in a test vehicle, however, there are several factors which have to be considered. In order to track up to five vehicles on the adjacent lane, high-resolution sensors such as LIDAR sensors are required. Depending on the vehicle position and the orientation of the sensor, vehicle lengths can be detected incorrectly. Hence, deviations of the gap size from the real value can occur. Vehicles can also be covered by other vehicles, and thus are not detected by the sensor. Lane change abortions represent critical driving maneuvers. Consequently, an abortion event is merely triggered if the situation is considerably critical. As previously mentioned, one criterion for an abortion is the short distance of another vehicle to the host vehicle. Therefore, sensors in the side area require an extremely precise resolution in its distance measurement that the system can distinguish between critical and non critical situations. These sensor and object tracking requirements have to be fulfilled in order to implement the strategies, which are depicted in this paper, into a vehicle. Furthermore, sensor and tracking performances have to be considered in the strategy.
Fully automatic lane change maneuvers for advanced safety systems in complex traffic situations
Hochautomatisierte Spurwechselmanöver zukünftiger Assistenz- und Sicherheitssysteme in komplexen Verkehrssituationen
2010
27 Seiten, 17 Bilder, 23 Quellen
Conference paper
Storage medium
English
Fully automatic lane change maneuvers for advanced safety systems in complex traffic situations.
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