Behavior planning for automated highway driving
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Date
2022
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Abstract
This work deals with certain components of an automated driving
system for highways, focusing on lane change behavior planning. It
presents a variety of algorithms of a modular system aiming at safe and
comfortable driving. A major contribution of this work is a method for
analyzing traffic scenes in a spatio-temporal, curvilinear coordinate
system. The results of this analysis are used in a further step to generate
lane change trajectories. A total of three approaches with increasing
levels of complexity and capabilities are compared. The most advanced
approach formulates the problem as a linear-quadratic cooperative
game and accounts for the inherently uncertain and multimodal nature
of trajectory predictions for surrounding road users. Evaluations on real
data show that the developed algorithms can be integrated into current
generation automated driving software systems fulfilling runtime
constraints.
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Keywords
Automated driving, Situation prediction, Lane change trajectory planning