Efficient and Safe Planner for Automated Driving on Ramps Considering Unsatisfication
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866915253112012800 |
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| author | Li, Qinghao Tian, Zhen Wang, Xiaodan Yang, Jinming Lin, Zhihao |
| author_facet | Li, Qinghao Tian, Zhen Wang, Xiaodan Yang, Jinming Lin, Zhihao |
| contents | Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an unsatisfactory level metric for efficiency and arrow-cluster-based sampling for safety. The planner identifies optimal times for the AV to change lanes, taking into account the vehicle's velocity as a key factor in efficiency. Additionally, the integrated planner employs arrow-cluster-based sampling to evaluate collision risks and select an optimal lane-changing curve. Extensive simulations were conducted in a ramp scenario to verify the planner's efficient and safe performance. The results demonstrate that the proposed planner can effectively select an appropriate lane-changing time point and a safe lane-changing curve for AVs, without incurring any collisions during the maneuver. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_15320 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Efficient and Safe Planner for Automated Driving on Ramps Considering Unsatisfication Li, Qinghao Tian, Zhen Wang, Xiaodan Yang, Jinming Lin, Zhihao Robotics Systems and Control Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an unsatisfactory level metric for efficiency and arrow-cluster-based sampling for safety. The planner identifies optimal times for the AV to change lanes, taking into account the vehicle's velocity as a key factor in efficiency. Additionally, the integrated planner employs arrow-cluster-based sampling to evaluate collision risks and select an optimal lane-changing curve. Extensive simulations were conducted in a ramp scenario to verify the planner's efficient and safe performance. The results demonstrate that the proposed planner can effectively select an appropriate lane-changing time point and a safe lane-changing curve for AVs, without incurring any collisions during the maneuver. |
| title | Efficient and Safe Planner for Automated Driving on Ramps Considering Unsatisfication |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2504.15320 |