A Novel Approach for a Collision Avoiding Lane Change System in a Dynamic Traffic Environment

This study proposes a path planning strategy for a collision avoiding lane change maneuver in a dynamic traffic environment. In this approach, at first an initial path is planned based on the current tire-road coefficient and safe longitudinal and lateral distances between the vehicles. Then the control unit guides the vehicle along the planned path of the ego-vehicle. During the maneuver, the movement of other vehicles may change resulting in inappropriate path planning of the ego-vehicle. As a consequence, the system needs to re-plan the path based on the new conditions. The re-planned path is continuous, derivable and feasible according to the vehicle dynamics and road conditions.