Many systems have been created which can keep an autonomous vehicle within a driving lane, but little experimental work has been reported that describes methods to transition a vehicle between lanes. Three techniques to accomplish lane transition using the ALVINN lane keeping system are reported here. The most basic involves intelligently switching between two trained ALVINN networks. The other techniques use active control of virtual camera views to move the vehicle into the destination lane.
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Jochem et al. (2002) studied this question.
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