In this paper, we propose a lane change decision scheme using only commercial, automotive radar sensors with “DRiving Environment Assessment and decision Making (DREAM) index.” First, the index associated with a risk situation is assessed by the concept of a dynamic occupancy grid zone. The predefined distance of the local area was set to conform to the international standard of a steering function. Also, the risk assessment was predictively conducted using modeling of the relative motion with a target vehicle. Second, the index associated with a cooperative driving concept of the surrounding vehicles is proposed. To estimate the relative acceleration which is not directly measured by radar, we designed a discrete-time state estimator. We executed scenario-based experiments with test vehicles in a high-speed circuit to validate the decision scheme. Through the experiments, we observed that the DREAM index could make effective decisions, and the lane change maneuverings were performed successfully in real-world tests.

中文翻译：

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自动驾驶汽车协同变道系统驾驶环境评估与决策

在本文中，我们提出了一种仅使用具有“驾驶环境评估和决策（DREAM）指数”的商用汽车雷达传感器的车道变换决策方案。首先，与风险情况相关的指标通过动态占用网格区的概念进行评估。局部区域的预定义距离被设置为符合转向功能的国际标准。此外，使用与目标车辆的相对运动建模来预测性地进行风险评估。其次，提出了与周围车辆协同驾驶概念相关的指标。为了估计雷达不能直接测量的相对加速度，我们设计了一个离散时间状态估计器。我们在高速电路中对测试车辆进行了基于场景的实验，以验证决策方案。