Flexible distance maintenance of autonomous vehicle in accordance with lane change of lateral position vehicle

In this paper, we present a method for the vehicle suddenly cut-in from the lateral direction during the preceding vehicle tracking. In the longitudinal direction tracking, if there is no prediction of the interruption located in lateral position vehicles, sudden braking causes when the vehicle cut-in from the longitudinal direction, it is possible to increase anxiety of passengers and reduce the reliability of the autonomous vehicle system. In order to ensure the safe braking distance and smooth braking control, in this paper, we present the tracking method. If lateral position vehicle cut in front of ego vehicle, while ego vehicle follows the preceding vehicle in the region of interest, we can calculate lateral relative distance and relative velocity of the vehicle located in the lateral position by the laser scanner. As an alternative, we put the relative distance data and the relative speed data from the lateral position vehicle in the fuzzy logic system. If probability that the lateral position vehicle cut-in on ego vehicle lane is more than threshold value and lateral distance closed than side lane, the system determines the new situation, perform distance control for safety braking with new targets.