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Design and Evaluation of a Driving Mode Decision Algorithm for Automated Driving Vehicle on a Motorway

机译：高速公路自动驾驶车辆驾驶方式决策算法的设计与评估

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This paper describes design and evaluation of a driving mode decision algorithm for automated driving on a motorway circumstance. For the development of a highly automated driving control algorithm on a motorway, driving mode decision is necessary to manage the driving condition in various road traffic situations. There are two driving modes; lane keeping and lane change. Desired driving mode is determined by a cost function that considers lane change or deceleration time, acceleration magnitude, and desired speed. A safety driving envelope is defined based on the desired driving mode using information of surrounding vehicles behaviors. To obtain the desired steering angle and longitudinal acceleration for maintaining the subject vehicle in the safe driving envelope, motion planning controller is designed using a model predictive control (MPC) with constraints. The proposed control algorithm has been evaluated via computer simulation studies. Simulation results show that the host vehicle changes its lane with safety guaranteed.
机译：本文描述了一种在高速公路上自动驾驶的驾驶模式决策算法的设计和评估。为了开发高速公路上的高度自动化的驾驶控制算法，需要驾驶模式决策来管理各种道路交通状况下的驾驶状况。有两种驾驶模式：保持车道和换道。期望的驾驶模式由考虑车道变化或减速时间，加速幅度和期望速度的成本函数确定。使用周围车辆行为的信息，基于期望的驾驶模式来定义安全驾驶范围。为了获得所需的转向角和纵向加速度，以使目标车辆保持在安全的行驶范围内，使用带有约束的模型预测控制（MPC）设计运动计划控制器。所提出的控制算法已通过计算机仿真研究进行了评估。仿真结果表明，本车在保证安全的前提下改变了车道。

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