Lane Change Maneuvers for Automated Vehicles.

By considering a lane change maneuver as primarily a longitudinal motion planning problem, this paper presents a lane change maneuver algorithm with a pragmatic approach to determine an inter-vehicle traffic gap and time instance to perform the maneuver. The proposed approach selects an appropriate inter-vehicle traffic gap and time instance to perform the lane change maneuver by simply estimating whether there might exist a longitudinal trajectory that allows the automated vehicle to safely perform the maneuver. The lane change maneuver algorithm then proceeds to solve two loosely coupled convex quadratic programs to obtain the longitudinal trajectory to position the automated vehicle in the selected inter-vehicle traffic gap at the desired time instance and the corresponding lateral trajectory. Simulation results demonstrate the capability of the proposed approach to select an appropriate inter-vehicle traffic gap and time instance to initialize the lateral motion of a lane change maneuver in various traffic scenarios. The real-time ability of the lane change maneuver algorithm to generate safe and smooth trajectories is shown by experimental results of a Volvo V60 performing automated lane change maneuvers on a test track.