Design of AI-based lane changing modules in connected and autonomous vehicles: a survey

Abstract

Lane changing is one of the complex driving tasks as it requires the vehicle to be aware of its highlydynamic surrounding environment, make decisions, and enact them in a timely manner. By exploiting both sensors and inter-vehicle communication, Connected and Autonomous Vehicles (CAVs) have the potential to significantly improve lane changing safety and efficiency. The complexity of the task and the real-time requirements make lane-changing a problem particularly suited to Artificial Intelligence (AI) approaches. In this paper, we survey the design of AI-based Lane-Changing(LC) modules for CAVs. First, we identify the key factors that can influence the design of an LC module. Next, we survey recent developments in AI-based lane changing. Finally, we analyse these approaches along the dimensions of the key influencing factors and summarise the challenges that are yet to be addressed and opportunities that can guide the future developments in AI-based LC modules.