Abstract
In this paper, an autonomous lane change method using nonlinear model predictive control and graph theory is proposed. By using graph theory, a safe driving path considering traffic conditions of other vehicles is calculated. By using that path, a trajectory and velocity considering comfort are calculated using nonlinear model predictive control. Simulation results show that behaviors to overtake other vehicles traveling ahead and to give way to other vehicles traveling behind are obtained. Moreover, simulation result indicates that the proposed method can be calculated about ten times faster than the conventional method using dynamic programming.
