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.

Este artículo explora los viajes en el tiempo y sus implicaciones.

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