Abstract: A computer-implemented method comprises: initiating, by an assisted-driving system that is controlling motion of a vehicle, a lane change of the vehicle from an ego lane to a target lane, the lane change to be performed based only on local information of the vehicle; defining, by the assisted-driving system, a parametric representation of the target lane, the parametric representation based on first waypoints of the target lane; receiving, by the assisted-driving system and during the lane change, a first output of a perception component of the vehicle, the first output being the local information and reflecting second waypoints of the target lane; performing, by the assisted-driving system, a comparison based on the first output and the parametric representation; and providing, by the assisted-driving system, references of a first global path to controllers of the vehicle for actuating the lane change, the references selected based on the comparison.

Abstract: An advanced driver-assistance system (ADAS) comprises: a sensor; a behavior planner that performs multi-policy lane change assistance for a vehicle by evaluating multiple scenarios based on an output of the sensor using a cost-based architecture, the cost-based architecture including a Markov decision process (MDP) with a discounted horizon approach applied to pre-chosen open-loop optimistic policies that are time based, wherein the behavior planner uses the MDP for choosing among the pre-chosen open-loop optimistic policies based on respective costs associated with the pre-chosen open-loop optimistic policies, the costs determined by performing a rollout for at least one gap in a fixed time horizon; a motion planner receiving an output of the behavior planner based on the MDP; and a controller receiving an output of the motion planner and determining vehicle dynamics of the vehicle for a next timestep.

Abstract: A computer-implemented method comprises: initiating, by an assisted-driving system that is controlling motion of a vehicle, a lane change of the vehicle from an ego lane to a target lane, the lane change to be performed based only on local information of the vehicle; defining, by the assisted-driving system, a parametric representation of the target lane, the parametric representation based on first waypoints of the target lane; receiving, by the assisted-driving system and during the lane change, a first output of a perception component of the vehicle, the first output being the local information and reflecting second waypoints of the target lane; performing, by the assisted-driving system, a comparison based on the first output and the parametric representation; and providing, by the assisted-driving system, references of a first global path to controllers of the vehicle for actuating the lane change, the references selected based on the comparison.