Risk-Aware Lane Selection on Highway with Dynamic Obstacles

• URL: http://arxiv.org/abs/2104.04105v1
• Date: Thu, 8 Apr 2021 22:54:27 GMT
• Title: Risk-Aware Lane Selection on Highway with Dynamic Obstacles
• Authors: Sangjae Bae, David Isele, Kikuo Fujimura, Scott J. Moura
• Abstract summary: We propose a real-time lane-selection algorithm with careful cost considerations and with modularity in design. The algorithm is a search-based optimization method that evaluates uncertain dynamic positions of other vehicles under a continuous time and space domain.
• Score: 18.24314781032556
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not to change lanes unless highly beneficial, e.g., reducing travel time significantly or securing higher safety. Evaluating such "benefit" is a challenge, along with multiple surrounding vehicles in dynamic speed and heading with uncertainty. We propose a real-time lane-selection algorithm with careful cost considerations and with modularity in design. The algorithm is a search-based optimization method that evaluates uncertain dynamic positions of other vehicles under a continuous time and space domain. For demonstration, we incorporate a state-of-the-art motion planner framework (Neural Networks integrated Model Predictive Control) under a CARLA simulation environment.

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