Safe Lane Change Aborting Maneuver for Autonomous Vehicle

This paper deals with autonomous-driving vehi-cle trajectory planning. It introduces a trajectory planning approach that allows aborting a lane change maneuver for safety reasons during an overtaking process. Specifically, this method comprises two main functions: firstly, generating a path that guides the vehicle back to the initial lane from its current position and, secondly, creating a speed profile that adapt the vehicle's velocity to match that of the overtaken vehicle. Additionally, the method considers various geometrical and dynamic constraints to ensure vehicle stability. The algorithm validation was conducted through an experimental campaign using an instrumented drive-by-wire vehicle. The different functions have been integrated into the ROS-Autoware architecture, and the online-generated trajectories were tested in real-time on the track. The experimental results demonstrate the effectiveness of the proposed planning method in the field of autonomous-driving vehicle control.