Decision-Making and Control for Advantageous Lane Changing: Collision Cone Based

Abstract

In this paper, we propose a lane changing model based on the collision cone approach. Specifically, we show how a vehicle decides whether to change lanes using the collision cone algorithm based on the velocity and the location of surrounding vehicles. The model not only checks the safety of a lane change but also compares the current and target lane with a new measure of driving advantages. In addition, it determines if there are any existing driving advantages such as free space and speed by lane changing. This is proved by showing how the subject vehicle behaves in different situations. Moreover, a new methodology of lane changing for collision avoidance, which is based on line of sight(LOS) with a target leader in a target lane, is suggested with a model predictive controller(MPC). Additionally, we show that the model makes reliable decision and generates acceptable lane changing trajectories.