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Authors: Ozan Çaldıran ; Engin Baglayici ; Morteza Dousti ; Eren Mungan ; Enes Emre Bulut ; M. Damla Demir and Furkan Koçyiğit

Affiliation: AVL Research and Engineering, Istanbul, Turkey

Keyword(s): Autonomous Driving, Automated Lane Change, Decision-making, Utility Functions, Gap Selection, Highway Autopilot.

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.

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Paper citation in several formats:
Çaldıran, O., Baglayici, E., Dousti, M., Mungan, E., Bulut, E. E., Demir, M. D. 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 - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 477-484. DOI: 10.5220/0010581304770484

@conference{icinco21,
author={Ozan \c{C}aldıran and Engin Baglayici and Morteza Dousti and Eren Mungan and Enes Emre Bulut and M. Damla Demir and Furkan Ko\c{c}yiğit},
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 - ICINCO},
year={2021},
pages={477-484},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010581304770484},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Automated Lane Change Decision Making in Highway using a Hybrid Approach
SN - 978-989-758-522-7
IS - 2184-2809
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
PB - SciTePress

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