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<p>This study evaluated the lane-changing performance of a Level 4 (L4) autonomous truck using an international (UN-R79 ACSF Category C) lane-changing method. The evaluation was based on the thresholds calculated from the time to collision (TTC). The threshold calculated using the TTC, based on the driving response of the following vehicle, was clarified through driving simulator experiments as the time required for the L4 truck to overtake on expressways and change lanes when merging onto main roads. The thresholds are set for long and short blinker ON times, and in both cases, comply with UN-R79 ACSF Category C standard. When the blinker ON time was long, the risk of being overtaken by the following vehicle during the lane-change operation was observed. However, when the blinker ON duration was short, the number of instances in which the following vehicle applied brakes increased. Both situations are dangerous on expressways, and braking is higher than the frequency of overtaking. However, braking is not considered sudden braking based on the value of deceleration; therefore, the optimal threshold is to set the blinker on time to a lesser value. Even for lane changes at the scene of merging onto the main lane, thresholds were set for short and long blinker ON times, but both thresholds showed that merging was possible without significantly changing the driving behavior of the following vehicle. Furthermore, it was shown that the following vehicle takes action when the relative speed between the L4 truck and the following vehicle is around 14.0&#xa0;m/s (50&#xa0;km/h), the indicated threshold represents an acceptable driving behavior (avoidance behavior) for the following vehicle.</p>

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Evaluation of Lane Changing by a Level 4 Autonomous Truck Based on the Reactions of Surrounding Vehicles

  • 期刊论文

  • 发表日期：

    2026年3月17日

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  • Shigeyuki Yamabe,
  • Masaaki Kinoshita,
  • Fumihiko Oosawa,
  • Yoshihiro Suda

摘要

This study evaluated the lane-changing performance of a Level 4 (L4) autonomous truck using an international (UN-R79 ACSF Category C) lane-changing method. The evaluation was based on the thresholds calculated from the time to collision (TTC). The threshold calculated using the TTC, based on the driving response of the following vehicle, was clarified through driving simulator experiments as the time required for the L4 truck to overtake on expressways and change lanes when merging onto main roads. The thresholds are set for long and short blinker ON times, and in both cases, comply with UN-R79 ACSF Category C standard. When the blinker ON time was long, the risk of being overtaken by the following vehicle during the lane-change operation was observed. However, when the blinker ON duration was short, the number of instances in which the following vehicle applied brakes increased. Both situations are dangerous on expressways, and braking is higher than the frequency of overtaking. However, braking is not considered sudden braking based on the value of deceleration; therefore, the optimal threshold is to set the blinker on time to a lesser value. Even for lane changes at the scene of merging onto the main lane, thresholds were set for short and long blinker ON times, but both thresholds showed that merging was possible without significantly changing the driving behavior of the following vehicle. Furthermore, it was shown that the following vehicle takes action when the relative speed between the L4 truck and the following vehicle is around 14.0 m/s (50 km/h), the indicated threshold represents an acceptable driving behavior (avoidance behavior) for the following vehicle.