{"title":"Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users","authors":"I. Bae, Jin Hyo Kim, J. Moon, Shiho Kim","doi":"10.1109/ITSC.2019.8916845","DOIUrl":null,"url":null,"abstract":"Comfort driving has emerged as an important topic in the autonomous car research field. This study focuses on lane change maneuvering (LCM) of autonomous vehicles to provide a comfortable driving experience for passengers. For this purpose, we propose an LCM algorithm for determining a desired trajectory by evaluating the allowable lateral acceleration value obtained from Bezier curves at a local path planning stage for comfortable and smooth motion of the vehicle. The performance of the proposed LCM algorithm was verified through computer simulations and real driving tests.","PeriodicalId":6717,"journal":{"name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","volume":"136 1","pages":"2272-2277"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ITSC.2019.8916845","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
Comfort driving has emerged as an important topic in the autonomous car research field. This study focuses on lane change maneuvering (LCM) of autonomous vehicles to provide a comfortable driving experience for passengers. For this purpose, we propose an LCM algorithm for determining a desired trajectory by evaluating the allowable lateral acceleration value obtained from Bezier curves at a local path planning stage for comfortable and smooth motion of the vehicle. The performance of the proposed LCM algorithm was verified through computer simulations and real driving tests.
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