# Risk-Aware Lane Selection on Highway with Dynamic Obstacles

arXiv: https://arxiv.org/abs/2104.04105 · HTML: https://mlsanity.com/paper/2104.04105/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 37 references that are in the map.
- First posted on arXiv 8 Apr 2021.

## Builds on (most cited first, 5 of 5)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [What-If Motion Prediction for Autonomous Driving](https://mlsanity.com/paper/2008.10587/) (2020)
- [Cooperation-Aware Lane Change Maneuver in Dense Traffic based on Model Predictive Control with Recurrent Neural Network](https://mlsanity.com/paper/1909.05665/) (2019)
- [Interactive Decision Making for Autonomous Vehicles in Dense Traffic](https://mlsanity.com/paper/1909.12914/) (2019)

## Abstract (arXiv)

This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not to change lanes unless highly beneficial, e.g., reducing travel time significantly or securing higher safety. Evaluating such "benefit" is a challenge, along with multiple surrounding vehicles in dynamic speed and heading with uncertainty. We propose a real-time lane-selection algorithm with careful cost considerations and with modularity in design. The algorithm is a search-based optimization method that evaluates uncertain dynamic positions of other vehicles under a continuous time and space domain. For demonstration, we incorporate a state-of-the-art motion planner framework (Neural Networks integrated Model Predictive Control) under a CARLA simulation environment.