Automated Lane Change: Theory and Practice

Abstract In this paper, the primary focus of study is the background mathematics in automated lane change maneuvers and the systematic development of controllers to have an autonomous vehicle accomplish a smooth lane change in the context of AHS. The analyzed maneuver considers optimality in elapsed time at an operating longitudinal velocity. Although the analysis is performed assuming that the road is straight, the generalization of the proposed algorithm to arbitrary road segments is rather straightforward. The outlined lane change algorithm is implemented on OSU test vehicles and has been tested at various occasions. Some of the experimental results will be presented throughout the paper.