Compatibility Checking for Autonomous Lane-Changing Assistance Systems
Po-Yu Huang1,a, Kai-Wei Liu1,b, Zong-Lun Li1, Sanggu Park2, Edward Andert2, Chung-Wei Lin1,c and Aviral Shrivastava2
1National Taiwan University, Taipei 106319, Taiwan
ar10922091@ntu.edu.tw
bb06902042@ntu.edu.tw
ccwlin@csie.ntu.edu.tw
2Arizona State University, Tempe, AZ 85281
ABSTRACT
Different types of lane-changing assistance systems are usually developed separately by different automotive makers or suppliers. A lane-changing model can meet its own requirements, but it may be incompatible with another lane-changing model. In this paper, we verify if two lane-changing models are compatible so that the two corresponding vehicles on different lanes can exchange their lanes successfully. We propose a methodology and an algorithm to perform the verification on the combinations of four lane-changing models. Experimental results demonstrate the compatibility (or incompatibility) between the models. The verification results can be utilized during runtime to prevent incompatible vehicles from entering a lane-changing road segment. To the best of our knowledge, this is the first work considering the compatibility issue for lane-changing models.
