28th IEEE Intelligent Vehicles Symposium (IV), California, United States Of America, 11 - 14 June 2017, pp.1590-1595
We study an algorithm that allows a vehicle to autonomously change lanes in a safe but personalized fashion without the driver's explicit initiation (e.g. activating the turn signals). Lane change initiation in autonomous driving is typically based on subjective rules, functions of the positions and relative velocities of surrounding vehicles. This approach is often arbitrary, and not easily adapted to the driving style preferences of an individual driver. Here we propose a data-driven modeling approach to capture the lane change decision behavior of human drivers. We collect data with a test vehicle in typical lane change situations and train classifiers to predict the instant of lane change initiation with respect to the preferences of a particular driver. We integrate this decision logic into a model predictive control (MPC) framework to create a more personalized autonomous lane change experience that satisfies safety and comfort constraints. We show the ability of the decision logic to reproduce and differentiate between two lane changing styles, and demonstrate the safety and effectiveness of the control framework through simulations.