Active lane change for safety enhanced autonomous driving

<p dir="ltr">This paper proposed an active lane change algorithm for autonomous vehicles using safety-critical model predictive control method. By incorporating safety-critical constraints into the algorithm, the safety hazard caused by surrounding vehicles are addressed. The proposed algorithm can actively react to mandatory lane change requirement. This has been evaluated in random generated driving scenarios. A safety hazard caused by merging surrounding vehicle is highlighted to demonstrate the effectiveness of the control algorithm.</p>