Automatic Lane Change Using Adaptive Grid Map

Automatic lane change is a feature in self-driving cars where the vehicle can change lanes on its own, without driver input. It aims to improve safety and make driving more convenient for the driver. In this paper, adaptive grid and occupancy map methods are proposed for automatic lane change. Nine grids are formed based on the ego vehicle to create an active occupancy grid map on the lane change request of the driver. It is suitable for use in autonomous vehicles that require real-time calculation because it reduces the number of cases from 256 to 32 where target vehicles may exist around the ego vehicle using active occupancy grid maps. The algorithm was programmed with Matlab/Simulink, and the simulation environment was constructed using CarMaker. Simulation results show that the proposed algorithm can make safe automatic lane change even in a crowded traffic condition.