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

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    AN-THESIS-2017.pdf (2.070Mb)
    Date
    2017-08-07
    Author
    An, Gihyeob
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    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.
    URI
    http://hdl.handle.net/1969.1/174655
    Subject
    Automotive control
    Vehicle control
    ADAS
    MPC
    Lane change
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    • Electronic Theses, Dissertations, and Records of Study (2002– )
    Citation
    An, Gihyeob (2017). Decision-Making and Control for Advantageous Lane Changing: Collision Cone Based. Master's thesis, Texas A & M University. Available electronically from http : / /hdl .handle .net /1969 .1 /174655.

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