Safe and Efficient Lane Change Maneuver for Obstacle Avoidance Inspired From Human Driving Pattern

One of the most important and fundamental topics in autonomous navigated vehicle research is lane change maneuver for obstacle avoidance or overtaking maneuver. In literature, path car-like vehicles has widely been generated with geometrically smooth segments by solving boundary conditions under given constraints. This paper proposes a new method continuous curvature generation issue while clothoids composition problem using an efficient algorithmic procedure. Conventional approaches resorting to mathematical engineering optimization without considering human-side activity response may fail deliver driving performance that favorable humans. The novelty proposed lies its adoption human pattern, which non-symmetric composed two different modes avoidance xmlns:xlink="http://www.w3.org/1999/xlink">recovery during maneuver, utilizes property appropriate iterative algorithm takes into account all constraints order solve problem. As compared conventional methods, not only provides overall safety avoidance, but also exhibits efficiency increased comfort like steering motion planning other methods validate safe