A Safety Lane Change Method Based on Sensor Date Fusion Designed for Assistance Driving

Lane change is a challenging task in assistance driving since it influences the safety and the efficiency of highway traffic. In this paper, a safety lane change method based on probability information is proposed to process the data collected from the multiple sensors of the vehicles. Firstly, we analyze the motions of the vehicles during the lane change on a two-lane highway and classify the lane change scenarios into four cases. On this basis, a general algorithm is proposed to calculate the probability of safety lane change. By using this method, we can convert the data obtained from the sensors of the vehicles during the lane change process into the probability of safety lane change, which can be used in data fusion at the decision level. The performance of the proposed method is evaluated through a series of simulations.