Automated Lane Changing Control in Mixed Traffic: An Adaptive Dynamic Programming Approach

Sayan Chakraborty, Leilei Cui, Kaan Ozbay, Zhong-Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, we have introduced an optimal data-driven control algorithm to solve the lane changing problem of Autonomous Vehicles (AVs), where the input-state data of the AV is utilized to generate a near-optimal lane-changing controller by approximate/adaptive dynamic programming (ADP) technique. The dynamics of the AV is assumed to be a parameter varying linear system, which induces two challenges for the lane-changing controller design: parameter varying and unknown dynamics. With the help of both gain scheduling and ADP techniques, a data-driven control algorithm is proposed which can generate a near-optimal lane-changing controller in the absence of the accurate model of the AV. Then, a data-driven lane-changing decision-making algorithm is used that can make the AV perform a lane abortion if safety conditions are violated during a lane change. Finally, the data-driven gain scheduling controller and lane-change decision-making algorithm are validated by SUMO and MATLAB simulations.

Original languageEnglish (US)
Title of host publication2022 IEEE 25th International Conference on Intelligent Transportation Systems, ITSC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1823-1828
Number of pages6
ISBN (Electronic)9781665468800
DOIs
StatePublished - 2022
Event25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022 - Macau, China
Duration: Oct 8 2022Oct 12 2022

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume2022-October

Conference

Conference25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022
Country/TerritoryChina
CityMacau
Period10/8/2210/12/22

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

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