Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users

Il Bae; Jin Hyo Kim; Jaeyoung Moon; Shiho Kim

doi:10.1109/ITSC.2019.8916845

Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users

Il Bae, Jin Hyo Kim, Jaeyoung Moon, Shiho Kim

School of Integrated Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

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.

Original language	English
Title of host publication	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2272-2277
Number of pages	6
ISBN (Electronic)	9781538670248
DOIs	https://doi.org/10.1109/ITSC.2019.8916845
Publication status	Published - 2019 Oct
Event	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 - Auckland, New Zealand Duration: 2019 Oct 27 → 2019 Oct 30

Publication series

Name	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

Conference

Conference	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Country/Territory	New Zealand
City	Auckland
Period	19/10/27 → 19/10/30

Bibliographical note

Funding Information:
This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the "ICT Consilience Creative Program" (IITP-2019-2017-0-01015) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation). The authors performed this work as a part of research projects of SKT-Yonsei Cooperative Autonomous Driving Research Center under the SKT-Yonsei Global Talent Fostering Program supported by the SK Telecom ICT R&D Center.

Funding Information:
This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the “ICT Consilience Creative Program” (IITP-2019-2017-0-01015) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation). The authors performed this work as a part of research projects of SKT-Yonsei Cooperative Autonomous Driving Research Center under the SKT-Yonsei Global Talent Fostering Program supported by the SK Telecom ICT R&D Center.

Publisher Copyright:
© 2019 IEEE.

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Management Science and Operations Research
Instrumentation
Transportation

Access to Document

10.1109/ITSC.2019.8916845

Cite this

Bae, I., Kim, J. H., Moon, J., & Kim, S. (2019). Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users. In 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 (pp. 2272-2277). [8916845] (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2019.8916845

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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.",

author = "Il Bae and Kim, {Jin Hyo} and Jaeyoung Moon and Shiho Kim",

note = "Funding Information: This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the {"}ICT Consilience Creative Program{"} (IITP-2019-2017-0-01015) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation). The authors performed this work as a part of research projects of SKT-Yonsei Cooperative Autonomous Driving Research Center under the SKT-Yonsei Global Talent Fostering Program supported by the SK Telecom ICT R&D Center. Funding Information: This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the “ICT Consilience Creative Program” (IITP-2019-2017-0-01015) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation). The authors performed this work as a part of research projects of SKT-Yonsei Cooperative Autonomous Driving Research Center under the SKT-Yonsei Global Talent Fostering Program supported by the SK Telecom ICT R&D Center. Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 ; Conference date: 27-10-2019 Through 30-10-2019",

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doi = "10.1109/ITSC.2019.8916845",

language = "English",

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Bae, I, Kim, JH, Moon, J & Kim, S 2019, Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users. in 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019., 8916845, 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 2272-2277, 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019, Auckland, New Zealand, 19/10/27. https://doi.org/10.1109/ITSC.2019.8916845

Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users. / Bae, Il; Kim, Jin Hyo; Moon, Jaeyoung et al.

2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2272-2277 8916845 (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Bae I, Kim JH, Moon J, Kim S. Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users. In 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 2272-2277. 8916845. (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019). doi: 10.1109/ITSC.2019.8916845

Lane Change Maneuver based on Bezier Curve providing Comfort Experience for Autonomous Vehicle Users

Abstract

Publication series

Conference

Bibliographical note

All Science Journal Classification (ASJC) codes

Access to Document

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Cite this