The ego vehicle will accelerates to gain enough space to change the lane in the second simulation. In the following cases, the ego vehicle decelerates to overtake a slow leading vehicle in the first simulation. playback_git.m: Generate a gif file of the lane change maneuver and save it in the folder gif.playback_plot.m: Show the snapshots of the ego vehicle and one surrounding vehicle during the lane change maneuver, and the ego vehicle's velocity and front steering angle history.These rules assume that a lane changing manoeuvre takes place without interference with vehicles in the destination lane, i.e. Surrounding vehicles' initial states and the time for the ego vehicle to finish lane change maneuver will be stored. Lane changing is a vital component of any traffic simulation model, and the rules describing drivers’ lane changing manoeuvres are well described in the literature (e.g. run_random_test.m: Run simulations with 100 groups of randomly generated driving scenarios.The position, speed, acceleration of the ego vehicle and all other vehicles can be self-defined. By changing relevant parameters, the ego vehicle will change to its left or right adjacent lane. test_simulation.m: Run a simulation with a pre-designed driving scenario.Moreover, to start different groups of simulations and show their results, folder test has:
To setup the environment, run the setup.m firstly. Krauß and a lane-changing model developed within the work on the simulation. Folder core contatins all relevant class and functions. The simulation uses the microscopic, space-continuous and time-discrete car-following model developed by S. In our numerical simulations, the ego vehicle is expected to change to the right or left adjacent lane. Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change},Īuthor=,
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