• Journal of the Korea Society of Computer and Information
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• v.11 no.5 s.43
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• pp.329-336
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• 2006

This paper describes a lane change assistance system for the help of safe lane change, which detects vehicles approaching from the rear side by using a computer vision algorithm and notifies the possibility of safe lane change to a driver. In case a driver tries to lane change, the proposed system can detect vehicles and keep track of them. After detecting side lane lines, region of interest for vehicle detection is decided. For detection a vehicle, optical flow technique is applied. The experimental result of the proposed algorithm and system showed that the vehicle detection rate was 91% and the embedded system would have application to a lane change assistance system being commercialized in the near future.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.46-51
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• 2015

In this paper, we propose a vision-based method to recognize lane changes of an autonomous vehicle. The proposed method is based on six states of driving situations defined by the positional relationship between a vehicle and its nearest lane detected. With the combinations of these states, the lane change is detected. The proposed method yields 98% recognition accuracy of lane change even in poor situations with partially invisible lanes.

• International Journal of Highway Engineering
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• v.20 no.1
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• pp.117-126
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• 2018

PURPOSES : The purpose of this paper is to analyze the change in lane reflection performance through lane washing and sweeping on highway lanes. METHODS : This paper compared and analyzed the changes in lane reflection performance before and after lane washing and sweeping. The research method was as follows. First, we selected four research sites on the Gyeong-bu Highway. Second, the parameters affecting lane reflection performance are classified into luminance, brightness, and number of glass beads. Third, the change in reflection performance was measured after washing /sweeping at the same place after studying 60m of the unwashed/unswept area. Fourth, the measurement results were compared and analyzed before and after lane washing/sweeping. RESULTS : The results of this study are as follows. First, lane washing improved the luminance and brightness by 4.2~21.4% and 1.4~5.1%, respectively, and reduced the number of glass beads per wash by 0.2~1.2%. Second, lane sweeping improved the luminance and brightness by 2.3~8.5% and 0.8~2.3%, respectively, and reduced the number of glass beads per sweep by 0.8~4.9%. CONCLUSIONS : By comparing the results of lane washing and sweeping, it was found that compared to lane sweeping, lane washing improved the luminance and fewer glass beads were dropped.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.3
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• pp.9-23
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• 2015

A lane change maneuver which has a high driver cognitive workload and skills sometimes leads to severe traffic accidents. In this study, the Advanced Lane Change Assist System (ALCAS) was developed to assist with the automatic lane changes in merging sections which is mainly based on an automatic control algorithm for detecting an available gap, determining the Optimal Lane Change Start Point (OLCSP) in various traffic conditions, and positioning the merging vehicle at the OLCSP safely by longitudinal automatic controlling. The analysis of lane change behavior and modeling of fundamental lane change feature were performed for determining the default parameters and the boundary conditions of the algorithm. The algorithm was composed of six steps with closed-loop. In order to confirm the algorithm performance, numerical scenario tests were performed in various surrounding vehicles conditions. Moreover, feasibility of the developed system was verified in microscopic traffic simulation(VISSIM 5.3 version). The results showed that merging vehicles using the system had a tendency to find the OLCSP readily and precisely, so improved merging performance was observed when the system was applied. The system is also effective even during increases in vehicle volume of the mainline.

• Journal of Auto-vehicle Safety Association
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• v.10 no.1
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• pp.38-44
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• 2018

This paper presents an analysis on driving safety in lane change situation based on road driving data. Autonomous driving is a global trend in vehicle industry. LKAS technologies are already applied in commercial vehicle and researches about lane change maneuver have been actively studied. In autonomous vehicle, not only safety control issue but also imitating human driving maneuver is important. Driving data analysis in lane change situation has been usually dealt with ego vehicle information such as longitudinal acceleration, yaw rate, and steering angle. For this reason, developing safety index according to surrounding vehicle information based on human driving data is needed. In this research, driving data is collected from perception module using LIDAR, radar and RT-GPS sensors. By analyzing human driving pattern in lane change maneuver, safety index that considers both ego vehicle and surrounding vehicle state by using relative velocity and longitudinal clearance has been designed.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.21-27
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• 2023

This paper presents a simulation tool for developing and evaluating automated driving systems' lane change algorithm in urban congested traffic. The behavior of surrounding vehicles was modeled based on driver driving data measured in urban congested traffic. Surrounding vehicles are divided into aggressive vehicles and non-aggressive vehicles. The degree of aggressiveness is determined according to the lateral position to initiate interaction with the vehicle in the next lane. In addition, the desired velocity and desired time gap of each vehicle are all randomly assigned. The simulation was conducted by reflecting the cognitive limitations and control performance of the autonomous vehicle. It was possible to confirm the change in the lane change performance according to the variation of the lane change decision algorithm.

• Journal of Auto-vehicle Safety Association
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• v.15 no.3
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• pp.17-26
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• 2023

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

• ETRI Journal
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• v.44 no.4
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• pp.641-653
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• 2022

In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle's safety features and the road's slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane-change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane-change trajectories for autonomous vehicles. When comparing this generated trajectory with a man-generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver's lane-change operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane-change trajectory.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.465-467
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• 1998

A lane change maneuver is a part of lateral control of an automated highway system. Assuming no direct measurement of its position during transition from one lane to another. A vehicle is controlled to follow the virtual desired trajectory using only on-board sensors. This paper investigates the development of a fuzzy controller for automated lateral control during emergencies. The performance of the fuzzy controller is presented at 20m/s for a step lane change and a double lane change. The robustness of fuzzy controller is investigated with respect to change in tire parameters and the number of passengers.

• Journal of Korean Society of Transportation
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• v.27 no.4
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• pp.115-126
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• 2009

The lane-change behavior usually consists of discretionary lane-change and mandatory lane-change types. For the first type, drivers change lanes selectively to maintain their own driving condition and the second type is the case that the drivers must change the current lane, which can occur in recurrent congestion sections like merging and weaving sections. The mandatory lane-change behavior have a great effect on the operation condition of freeway. In this paper, we first generate data such as traffic volumes, speeds, densities, and the number of lane-change within the merging and weaving sections using the data of individual vehicle collected from time-lapse aerial photography. And then, the data is divided into the stable and congested flow by analyzing the speed variation pattern of individual vehicles. In addition, the number of lane-changing from ramp to mainline within every 30-meter interval is investigated before and after traffic congestion at study sites and the distribution of lane-changing at each 30-meter point is analyzed to identify the variation of lane-changing ratio depending on the stable and congested flows. To recognize the effect of mainline flow influenced by ramp flow, this study also analyzes the characteristics of the lane-changing distributions within the lanes of mainline. The purpose of this paper is to present the basic theory to be used in developing a lane-changing model at the merging and weaving sections on freeways.