Methods and algorithms for local navigation of autonomous vehicles on a multi-lane road, simulation architecture

This paper describes a system for modeling traffic on a multi-lane road, designed to work out the lane changing algorithms for an autonomous car “Niva” with a removable automatic control system. A survey of such algorithms on a multi-lane road is given and methods for making decisions on multi-lane road without crossing intersections are proposed. In this work the description of the simulator and the analysis of experimental data for the method are presented.