Lane Change Scheduling for Autonomous Vehicles

The subject of this paper is the coordination of lane changes of autonomous vehicles on a two-lane road segment before reaching a given critical position. We first develop an algorithm that performs a lane change of a single vehicle in the shortest possible time. This algorithm is then applied iteratively in order to handle all lane changes required on the considered road segment while guaranteeing traffic safety. Various example scenarios illustrate the functionality of our algorithm.


Mobility-on-demand scenarios relying on lightweight autonomous and connected vehicles for large pedestrian areas and intermodal hubs
Kumru, Murat; Makarem, Laleh; Gillet, Dens (null; 2017-10-05)
This paper presents Mobility-On-Demand (MoD) scenarios relying on lightweight autonomous and connected vehicles to ease commuting in large pedestrian areas and intermodal hubs. In particular, we discuss the case of the EPFL campus as an example of a large pedestrian area and the case of the main Zurich train station as an example of a large intermodal hub. These two scenarios help to investigate the potential benefits and the implementation challenges of innovative lightweight autonomous and connected vehic...
Vehicle routing problem in cross dockswith shift-based time constraints on products
Koçak, Menekşe; Serpil, Canan; Department of Industrial Engineering (2011)
In this study, the capacitated vehicle routing problem with shift based time constraints is taken into consideration. The study stemmed from an application in a cross dock. The considered cross dock is assumed to feed directly the production lines of its customer. The customer has a just-in-time production system that requires producing only in necessary quantities at the necessary times. This necessitates the arrival of the parts/products collected from different suppliers at the customer at the beginning ...
Communication and coordination for urban intelligent transportation: architecture and algorithms
Atagoziev, Maksat; Schmidt, Klaus Verner; Schmidt, Şenan Ece; Department of Electrical and Electronics Engineering (2022-2-10)
In the scope of Intelligent Transportation Systems (ITS), the automation and coordination of connected and autonomous vehicle (CAV) lane changes (LCs) have a strong impact on driving safety and traffic throughput. Accordingly, this thesis develops algorithms for the coordination of CAV LCs that are then used for controlling the traffic at intersections. First, this thesis focuses on the coordination of LCs of a group of CAVs to minimize the time when all LCs are completed, while keeping small inter-vehicle ...
Autopilot Design for Vehicle Cornering Through Icy Roads
Ahiska, Kenan; Özgören, Mustafa Kemal; Leblebicioğlu, Mehmet Kemal (2018-03-01)
In this paper, vehicle cornering along roads with low friction coefficient is studied, and an autopilot design is proposed to satisfy desired handling performance. A novel hierarchical optimization approach is presented to generate offline solutions for vehicle cornering problem along roads with different friction coefficients and radii of curvature. A vehicle status definition is introduced as a function of vehicle states that contains data to indicate handling performance. At each control instant, vehicle...
Tracking Reported Vehicles in Traffic Management and Information System using Intelligent Junctions
Elci, Atilla; RAHNAMA, BEHNAM; Amintabar, Amirhasan (2010-05-01)
This study highlights a security scenario involving vehicles in a Traffic Management and Information System (TMIS) network. TMIS and its nodal architecture, nicknamed Intelligent Junction (IJ), are summarized from our recent work. System design sets an example to a software architecture implementing autonomous semantic agents through semantic web services, junction-based sensor networks, local- and wide-area networking through wire/wireless integrated communication infrastructure. It is so construed as to p...
Citation Formats
K. V. Schmidt and Ş. E. Schmidt, “Lane Change Scheduling for Autonomous Vehicles,” 2016, vol. 49, Accessed: 00, 2020. [Online]. Available: