Abstract:One of the riskiest maneuvers that a driver has to perform in a conventional highway system is to merge into the traffic and/or to perform a lane changing maneuver. Lane changing/merging collisions are responsible for one-tenth of all crash-caused traffic delays often resulting in congestion. Traffic delays and congestion, in general, increases travel time and has a negative economic impact.In this paper, we analyze the kinematics of the vehicles involved in a lane changing/merging maneuver, and study the conditions under which lane changing/merging crashes can be avoided. That is, given a particular lane change/merge scenario, we calculate the minimum longitudinal spacing which the vehicles involved should initially have so that no collision, of any type, takes place during the maneuver.Simulations of a number of examples of lane changing maneuvers are used in order to demonstrate the results. These results together with appropriate sensors and equipment on board of vehicles could be used to assess the safety of lane changing maneuvers and provide warnings or take evasive actions to avoid collision.Keywords: Lane changing, lane merging, crash avoidance, minimum safety spacing (MSS).1. This work is supported by the California Department of Transportation through PATH of the University of California. The contents of this paper reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This paper does not constitute, a standard, specification, or regulation.
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Executive Summary:In this paper, we examine the problem of safe lane changing and merging maneuvers in highway systems. By analyzing the kinematics of the vehicles involved in a lane changing or merging scenario, we present a general algorithm to calculate whether a particular lane changing/merging maneuver is safe, i.e., free of collisions. Moreover, we present a general algorithm for calculating the Minimum longitudinal Safety Spacings (MSS), that is, given a particular lane change/merging scenario, we calculate the minimum longitudinal spacings that the vehicles should initially have so that no collision takes place during the lane changing/merging maneuver. We, then, examine special cases of lane changing/merging scenarios. The databases generated by simulation results together with appropriate sensors and equipment on board of vehicles could be used to assess the safety of lane changing maneuvers and provide warnings or take evasive actions to avoid collision.
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