Overview of Lane Changing System

An automated lane-changing system enables autonomous vehicles to change lanes and travel along a collision-free path to reach a destination. Automated Driving Toolbox™ provides application examples that show you how to design a lane-changing system and automate testing for highway driving scenarios. The toolbox also includes examples that show you how to design the sensor fusion, planner, and controller components of a lane-changing system. This topic presents an overview of various application examples, and helps you get started with building a lane-changing system.

To capture its surrounding view, you must equip the ego vehicle with multiple cameras and a radar sensor. A lane-changing system receives vision and radar detections and outputs steering and acceleration commands to a vehicle dynamics system, which models the motion of the ego vehicle. The system consists of these components:

• Sensor Fusion and Tracking — Fuses vehicle detections from the camera and radar sensors, and tracks the positions of detected vehicles across multiple frames.

• Planner — Finds the most important objects surrounding the ego vehicle, predicts their motion, and generates the optimal trajectory.

• Control — Computes the required acceleration and steering angle to enable the ego vehicle to travel along the generated trajectory.

This table lists applicable examples for each lane-changing goal.

Goal	Example	Sensor Input	Simulation Environment
Design lane-changing system for highway driving scenarios.	Highway Lane Change	Camera detections Radar detections INS measurements	Cuboid
Automate testing of lane-changing system against multiple driving scenarios.	Automate Testing for Highway Lane Change	Camera detections Radar detections INS measurements	Cuboid
Design sensor fusion component to track detections from multiple cameras and a radar.	Surround Vehicle Sensor Fusion	Camera detections Radar detections INS measurements	Cuboid
Design planner and controller components of lane-changing system.	Highway Lane Change Planner and Controller	Lanes and actors truth	Cuboid
Generate code for a lane-change planner, and validate the functional equivalence with simulation.	Generate Code for Highway Lane Change Planner	Lanes and actors truth	Cuboid
Simulate highway lane-change planner with RoadRunner Scenario.	Highway Lane Change Planner with RoadRunner Scenario	Lanes and actors truth	RoadRunner Scenario

Related Topics

• Overview of Lane Following System
• Overview of Collision Avoidance System