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Efficient and Safe Planner for Automated Driving on Ramps Considering Unsatisfication

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arxiv 2504.15320 v1 pith:4XFC7AOC submitted 2025-04-20 cs.RO cs.SYeess.SY

Efficient and Safe Planner for Automated Driving on Ramps Considering Unsatisfication

Qinghao Li , Zhen Tian , Xiaodan Wang , Jinming Yang , Zhihao Lin This is my paper
classification cs.RO cs.SYeess.SY
keywords plannerautomatedefficiencylane-changingrampssafearrow-cluster-basedcurve
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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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.

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Cited by 5 Pith papers

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