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Clothoid-based Lane Change Trajectory Computation for Self-Driving Vehicles

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dc.contributor.author Mohammed Ali Kahya, Ardam Haseeb
dc.contributor.author Schmidt, Klaus Werner
dc.date.accessioned 2023-12-12T13:10:42Z
dc.date.available 2023-12-12T13:10:42Z
dc.date.issued 2017
dc.identifier.citation Mohammed Ali Kahya, Ardam Haseeb; Schmidt, Klaus Werner (2017). "Clothoid-based Lane Change Trajectory Computation for Self-Driving Vehicles", Çankaya University Journal of Science and Engineering, Vol. 14, no. 2, pp. 152-179. tr_TR
dc.identifier.issn 2564-7954
dc.identifier.uri http://hdl.handle.net/20.500.12416/6778
dc.description.abstract The subject of this paper is the efficient computation of lane change trajectories for self-driving vehicles. The paper first identifies that a certain type of clothoid-based bi-elementary paths can be used to represent lane change trajectories for vehicles. It is further highlighted that the curvature of such trajectories must be adjusted to the driving situation in order to obtain feasible lane change trajectories. Accordingly, the paper establishes an analytical relation between the maximum admissible curvature of the lane change trajectory and the velocity profile during a lane change. Using this relation, the paper proposes an efficient Newton iteration for computing the parameters of bi-elementary paths for lane changes. The resulting lane change trajectories are as short as possible, while meeting the constraint on the maximum curvature. Simulation experiments for various driving situations show that the computed bi-elementary paths can be computed efficiently and constitute suitable lane change trajectories. tr_TR
dc.language.iso eng tr_TR
dc.rights info:eu-repo/semantics/openAccess tr_TR
dc.subject Autonomous Vehicles tr_TR
dc.subject Lane Changes tr_TR
dc.subject Clothoid Trajectories tr_TR
dc.title Clothoid-based Lane Change Trajectory Computation for Self-Driving Vehicles tr_TR
dc.type article tr_TR
dc.relation.journal Çankaya University Journal of Science and Engineering tr_TR
dc.identifier.volume 14 tr_TR
dc.identifier.issue 2 tr_TR
dc.identifier.startpage 152 tr_TR
dc.identifier.endpage 179 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü tr_TR


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