Path Generation of Lane Change in Dynamic Environments Considering Characteristics of Driver's Operation

Abstract

In autonomous driving it is necessary to generate a path of lane change which considers dynamic environments of surrounding vehicles and the characteristics of the driver’s operation. In this paper, a new path generation method of lane change is proposed by combining two dimensional relative coordinates of vehicle planar position with time coordinate of vehicle motions. The proposed method can cope with both safety and the characteristics of the driver’s operation by perfom1ing the optimization with an evaluation function including own acceleration, jerk and distances to surrounding vehicles. Some simulations show the effectiveness of the proposed method.