ABSTRACT
This paper describes a lane change motion planning and control algorithm with collision probability for an automated driving in complex driving situations. An environment presentation model calculates tracking and prediction of other traffics’ states. Using this information, collision probability is obtained by status of other vehicles. A hyperbolic tangent shaped lane change motion is defined to reduce acceleration jerk value for passenger’s comfortability. In merging or split section of the road, the longitudinal acceleration, lane change timing and safe constraints are defined. The states of the subject vehicle are planned to change the lane safely. A lower-level controller is designed using a stochastic model predictive control (SMPC) with constraints to obtain desired control inputs.
