Autonomous lane-change controller

This paper focuses on the design of a model that can be used for high-level decision making and low-level maneuver control, to achieve safe, optimal and stable lane-change maneuvers of autonomous vehicles. The objective of the controller optimized for lane change maneuvers is to minimize the travel time, maintain safety distances between the target vehicle and neighboring ones, satisfy the operational constraints of the target vehicle, and comply with the speed limit. In particular, the overall control problem is formulated with three sub-controllers. The high-level decision making algorithm is constructed as a mixed logic dynamic system and solved by Cplex. Secondly, the lane tracking problem is handled by a PD-controller. Lastly, the dynamic game theory approach is adopted to deal with safety design. After the modeling of the overall system is established at the three levels, the effectiveness of the proposed methodology is demonstrated by simulated scenarios.