Automated Lane-change with Evolution Capability

Evolution capability enables an automated driving system to upgrade its settings during field implementation. It has the potential to make automated driving more effective and more acceptable to drivers without sacrificing safety. To enable automated lane-change with evolution capability, a customized automated driving system is established in this research. It has the following features: i) with the capability of changing lane with ensured perceived safety; ii) with the capability of evolving to understand users' preference; iii) with guaranteed evolution efficiency for ease of real-world implementation; iv) with experience accumulation capability for expanded applicability. The performance of the proposed system is evaluated by simulations. The system performance is analyzed in regard to different driving styles and surrounding traffic conditions. Experiment results confirm that the proposed system is able to evolve to generate trajectories with ensured perceived safety. The average number of evolution iterations is less than ten. The average discrepancy between the evolved trajectory and the user's expectation is less than 0.03 meter.