2025/04/22 by Yaoze Liu, Zhen Tian, Liu, Yaoze +7 · 3 citations
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Maritime Navigation and Safety #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #Underwater Vehicles and Communication Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2504.15611
openalex publication_date 2025/04/22 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an unsatisfactory level metric for efficiency and arrow-cluster-based sampling for safety. The planner identifies optimal times for the AV to change lanes, taking into account the vehicle's velocity as a key factor in efficiency. Additionally, the integrated planner employs arrow-cluster-based sampling to evaluate collision risks and select an optimal lane-changing curve. Extensive simulations were conducted in a ramp scenario to verify the planner's efficient and safe performance. The results demonstrate that the proposed planner can effectively select an appropriate lane-changing time point and a safe lane-changing curve for AVs, without incurring any collisions during the maneuver.