Cooperative Lane Changing System

Open Access
Yu, Zilong
Graduate Program:
Electrical Engineering
Master of Science
Document Type:
Master Thesis
Date of Defense:
June 12, 2014
Committee Members:
  • Hossein Jula, Thesis Advisor
  • Lane changing
  • vehicles cooperation
This paper proposes an improved automatic driving system for lane changing maneuver. The system should generate schedules based on the desired acceleration profiles and the detected (initial) relative distances respected to each adjacent vehicles to achieve lane changing maneuver without collisions. The effectiveness of the proposed automatic driving system is verified by adding inter-vehicle communication to show that the system can handle two lane changing maneuver under worse situations than the existing system. The existing system is designed for the scenario without inter-vehicle communication. With no communications, the adjacent vehicles are instructed to travel with fixed velocities, their initial velocities. In the improved system, the inter-vehicle communication is introduced. The adjacent vehicles could acknowledge the intention of lane changing maneuver. If the conditions are not satisfied, to ensure driving in safe, the adjacent vehicle will adjust their velocities to cooperate the maneuver.