Design of a utility-based lane change decision making algorithm and a motion planning for energy-efficient highway driving
Sahar Zeinali, Michael Fleps-Dezasse, Julian King, Georg Schildbach
Abstract
This paper addresses the design of a decision making and motion planning system for lane change maneuvers considering energy efficiency. A novel decision making algorithm is proposed to check the desirability of performing the lane change. The algorithm is based on a utility function that consists of different performance criteria, including energy consumption. The execution of the decided maneuver involves a lower-level motion planning and control system for the longitudinal and lateral directions. For the longitudinal direction, an energy-efficient Model Predictive Controller (MPC) is designed, which considers the safety boundaries as well as other constraints, such as comfort, traffic laws, and physical limitations of the system. For the lateral direction, the desired trajectory is planned based on a parameterized sigmoid function. The lateral tracking is then realized by a PID controller. Finally, to evaluate the performance of the designed algorithms, a fuel consumption map of an internal combustion engine (ICE) is approximated by a second-order multivariate polynomial. Simulation results demonstrate the capability of the proposed algorithm to safely perform the lane change maneuver in different scenarios and for two vehicle models, including a simplified vehicle dynamic model and a high-fidelity IPG CarMaker model.