Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users

Comfort driving has emerged as an important topic in the autonomous car research field. This study focuses on lane change maneuvering (LCM) of autonomous vehicles to provide a comfortable driving experience for passengers. For this purpose, we propose an LCM algorithm for determining a desired traje...

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Bibliographic Details
Published in2019 IEEE Intelligent Transportation Systems Conference (ITSC) pp. 2272 - 2277
Main Authors Bae, Il, Kim, Jin Hyo, Moon, Jaeyoung, Kim, Shiho
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2019
Subjects
Acceleration
Autonomous vehicles
Heuristic algorithms
Kinematics
PD control
Trajectory
Vehicle dynamics
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DOI10.1109/ITSC.2019.8916845

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Summary:Comfort driving has emerged as an important topic in the autonomous car research field. This study focuses on lane change maneuvering (LCM) of autonomous vehicles to provide a comfortable driving experience for passengers. For this purpose, we propose an LCM algorithm for determining a desired trajectory by evaluating the allowable lateral acceleration value obtained from Bezier curves at a local path planning stage for comfortable and smooth motion of the vehicle. The performance of the proposed LCM algorithm was verified through computer simulations and real driving tests.
DOI:10.1109/ITSC.2019.8916845