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Lane-change is considered to be one of the toughest challenges in the field of autonomous vehicles.Any vehicles that are driving around the host vehicle may effect this operation.To ascertain the safety during the lanechange process,a comprehensive understanding of surrounding environment as well as a real-time decision is needed.Many researchers have proposed several approaches based on kinematics to perform this task.However,human drivers dont concerned too much about the kinematic parameters of vehicles,but try to control vehicles mainly based on the scenes from vision and experiences accumulated from long-time driving.