Cooperation-Aware Lane Change Maneuver in Dense Traffic based on Model Predictive Control with Recurrent Neural Network

Understand

This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers.

• This paper focuses on heavy traffic where vehicles cannot change lanes without cooperating with other drivers.
• In this case, classical robust controls may not apply since there is no safe area to merge to without interacting with the other drivers.
• That said, modeling complex and interactive human behaviors is highly non-trivial from the perspective of control engineers.