Lane change algorithm for autonomous vehicles via virtual curvature method

This paper addresses the lane changing problem of autonomous vehicles when there is no road infrastructure support. The autonomous vehicle should drive from the current lane to the adjacent lane in the absence of a reference path to guide the vehicle to the new lane. We suggest an algorithm that incorporates a virtual road curvature with bicycle model for lane change guidance. As the name suggests, the virtual road curvature does not physically exist. It is a user assigned radius of a curved path which connects the current lane to the adjacent lane. Since the lateral sensor readings during lane changing maneuver are erroneous, the steering angle along with the virtual curvature is fed into a bicycle model to estimate the lateral position during the transition to the next lane. Details of the algorithm and the virtual road curvature determination are presented in the paper. In contrast to other lane changing methods, controller switching is not required and the same controller is for both lane keeping and lane changing. The algorithm is verified experimentally and the results are comparable with lane changing with physical transition lane.