Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles

초록

In this paper, we propose a lane change decision scheme using only commercial, automotive radar sensors with "DRiving Environment Assessment and decision Making (DREAM) index." First, the index associated with a risk situation is assessed by the concept of a dynamic occupancy grid zone. The predefined distance of the local area was set to conform to the international standard of a steering function. Also, the risk assessment was predictively conducted using modeling of the relative motion with a target vehicle. Second, the index associated with a cooperative driving concept of the surrounding vehicles is proposed. To estimate the relative acceleration which is not directly measured by radar, we designed a discrete-time state estimator. We executed scenario-based experiments with test vehicles in a high-speed circuit to validate the decision scheme. Through the experiments, we observed that the DREAM index could make effective decisions, and the lane change maneuverings 7were performed successfully in real-world tests.

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