V2V based Cut-In Vehicle Yield Algorithm for Congested Traffic Autonomous Driving

Changhee Kim; Heungseok Chae; Youngmin Yoon; Kyongsu Yi

doi:10.22680/kasa2022.14.2.014

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2022 Vol.14, Issue 2 Preview Page Next Page

V2V based Cut-In Vehicle Yield Algorithm for Congested Traffic Autonomous Driving 혼잡 교통류에서의 V2V 기반 Cut-In 차량 양보 거동 계획 알고리즘

30 June 2022. pp. 14-19

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Abstract

This paper presents motion planning algorithm that yields to intervening side lane vehicles in a congested traffic flow based on vehicle to vehicle (V2V) communication. Autonomous driving in dense traffic situation requires advanced driving performance in terms of vehicle interaction and risk mitigation. One of the most important functions necessary for congested traffic autonomous driving is to predict the lane change intention of the side lane target vehicle. However, implementing this function by using only environmental sensors has limitations. In this study, V2V communication is used to overcome the limitations and determine the intention of cut-in vehicles. Lane change intention of the intervening side lane vehicle is inferred by its longitudinal speed, steering angle, and turn signal light information received by the on-board-unit (OBU). Once the yield decision is made, the subject vehicle decelerates to generate sufficient clearance for the target vehicle to enter. Validation of the algorithm was conducted with actual autonomous test vehicles.

Keywords

Autonomous driving

Congested traffic

Motion planning

Vehicle-to-Vehicle communication

키워드

자율 주행

혼잡 교통류

거동 계획

V2V

References

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 14
No :2
Pages :14-19
Received Date : 2020-11-09
Revised Date : 2021-09-06
Accepted Date : 2021-09-07
DOI :https://doi.org/10.22680/kasa2022.14.2.014

Journal of Auto-vehicle Safety AssociationISSN:2005-9396(Print)한국자동차안전학회

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