Lane Change Behavior Planning for Automated Driving System in Urban Highway

Abstract

The rapid development of automated driving in recent years makes experiments on public roads possible. In order to realize an environmental recognition robustly, it is necessary to evaluate its performance in many situations. This paper describes an automated vehicle system for urban driving experiment. This study focuses on the behavior evaluation for lane change maneuver in highway. We propose a behavior model for lane change and a simulation platform. To do this, we record lane change maneuvers using expert drivers and evaluate their behaviors. Experimental results show the validity of the proposed system.