Lane-Change Intention Estimation for Car-Following Control in Autonomous Driving
Yihuan Zhang (Tongji University)
Qin Lin (TU Delft - Cyber Security)
Jun Wang (Tongji University)
Sicco Verwer (TU Delft - Cyber Security)
John M. Dolan (Carnegie Mellon University)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
Car-following is the most general behavior in highway driving. It is crucial to recognize the cut-in intention of vehicles from an adjacent lane for safe and cooperative driving. In this paper, a method of behavior estimation is proposed to recognize and predict the lane change intentions based on the contextual traffic information. A model predictive controller is designed to optimize the acceleration sequences by incorporating the lane-change intentions of other vehicles. The public data set of next generation simulation is labeled and then published as a benchmarking platform for the research community. Experimental results demonstrate that the proposed method can accurately estimate vehicle behavior and therefore outperform the traditional car-following control.