Autonomous Vehicle Lane Change Maneuver: A Comprehensive Analysis

The two main parts of an autonomous vehicle lane change maneuver system are a lane change planner and a lane change controller. This paper describes a model-based design strategy for developing such a system. This means that the lane change planner is in charge of creating a lane change trajectory that is both safe and efficient. The lane-changing controller is tasked with the actual execution of the trajectory, involving the management of the vehicle’s steering, acceleration, and braking. The lane change planner utilizes several strategies to craft trajectories that prioritize safety and efficiency. The planner starts with a time-to-collision analysis to determine which targets are safe or hazardous. If the present lane is considered safe, it then generates terminal states that are specific for the front automobile following modes. The lane changing maneuver system underwent evaluation within a simulation environment. The results of this assessment demonstrate the system’s capability to adeptly and securely execute lane change maneuvers across diverse driving scenarios.