Abstract This work considers the cooperative trajectory-planning problem along a double lane change scenario for autonomous driving. In this paper, we develop two frameworks to solve based on distributed model predictive control (MPC). The first approach solves single nonlinear MPC problem. general idea is introduce collision cost function in optimization at planning task achieve smooth and bou...

This paper presents a Linear Parameter Varying (LPV) based approach to handle different steering scenarios for autonomous vehicles. The proposed methodology consists of the design fast and performant LPV/LFT controller which can track generated yaw rate reference, speed operating range, lane tracking smooth/fast changes. handling dynamic maneuver is achieved by Command Governor (CG), feeds upda...

The number of motor vehicles and traffic demand is growing in tandem with society's rapid economic development the quickening process urbanization. In India, congestion has become most serious issue. Vehicle's poor lane-changing behaviors have a significant impact on speed system. lane change behavior was observed study flow simulation model VISSIM. purpose this investigation to estimate change...

As safety and efficiency issues of transportation hand-in-hand with the intelligent vehicle concept – have gathered ground in the last few years in the automotive research community and have penetrated into the automotive industry, vision-based applications have become increasingly important in driver assistance systems (Kastrinaki et al., 2003; Bertozzi et al., 2002). The primary targets of th...

In this paper we consider the problem of autonomous lane changing for self driving cars in a multi-lane, multi-agent setting. We present a framework that demonstrates a more structured and data efficient alternative to end-to-end complete policy learning on problems where the high-level policy is hard to formulate using traditional optimization or rule based methods but well designed low-level ...

Lane-changing (LC) behavior is investigated on Chinese freeways, where the driving circumstances are relatively aggressive. Three data sets were collected from urban expressways and an intercity highway in the form of traffic videos. Different aspects of LC behaviors are analyzed, i.e., the LC rate, motivation, target lane choice and impact on traffic. The results suggest that LC is a transient...

Real-time Lane Detection for Driving System Using Image Processing Based on Edge Detection and Hough Transform has been developed to aid a driver in the lane departure decision-making, to reduce a loss of concentration and to prevent an accident while driving. In this paper, we propose a method for detecting the lane markers in real time by using a webcam camera to record the road as a video st...

Traditional lane-changing (LC) behavioral researches usually focus on the driver’s cognitive performance which includes the driver’s psychological and behavioral habit characteristics, rarely involving the affection of expert driver’s comprehensive behavioral preferences, such as: safety and comfort performance in LC process. Towards the free LC process, a novel LC safety and comfort degree ind...