Automated Lane Change Decision Making in Highway using a Hybrid Approach

Ozan Çaldıran, Engin Baglayici, Morteza Dousti, Eren Mungan, Enes Bulut, M. Demir, Furkan Koçyiğit

2021

Abstract

This study proposes a decision-making model for lane changing and lane keeping decisions in highway autonomous driving. In order to perform a safe and efficient lane change, it is crucial to decide whether a lane change is needed, the desired lane is more suitable, and making a lane change maneuver is safe. In this work, we propose a model that is capable of assessing these considerations and suggest appropriate lane-change maneuvers. The model uses probabilistic utility functions and a deterministic but conservative gap selection method that considers not only the gaps in the target lane but also the vehicles in the driving lane. In addition to simulation tests, we integrated our model into a SUV vehicle that has 360-degree perception and motion control capabilities and performed autonomous highway driving to test real-life performance.

Paper Citation

in Harvard Style

Çaldıran O., Baglayici E., Dousti M., Mungan E., Bulut E., Demir M. and Koçyiğit F. (2021). Automated Lane Change Decision Making in Highway using a Hybrid Approach. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 477-484. DOI: 10.5220/0010581304770484

in Bibtex Style

@conference{icinco21,
author={Ozan Çaldıran and Engin Baglayici and Morteza Dousti and Eren Mungan and Enes Bulut and M. Demir and Furkan Koçyiğit},
title={Automated Lane Change Decision Making in Highway using a Hybrid Approach},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={477-484},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010581304770484},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Automated Lane Change Decision Making in Highway using a Hybrid Approach
SN - 978-989-758-522-7
AU - Çaldıran O.
AU - Baglayici E.
AU - Dousti M.
AU - Mungan E.
AU - Bulut E.
AU - Demir M.
AU - Koçyiğit F.
PY - 2021
SP - 477
EP - 484
DO - 10.5220/0010581304770484