Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather

Table 4

Four-level lane-change mode for collision avoidance.

Mode	Host vehicle initial velocity (m/s)	Application condition	Optional driving mode steering frequency (Hz)/brake deceleration (m/s^2)	Score	Optimal driving mode steering frequency (Hz)/brake deceleration (m/s^2)
1	30		0.2/0	8.4	0.2/0
			0.3/0	6.8
			0.2/2	5.8
			0.4/0	5.2
			0.3/2	4.2
			0.4/2	3.5
			0.5/0	2.7
			0.5/2	1.9
2			0.3/0	6.8	0.3/0
			0.2/2	5.8
			0.4/0	5.2
			0.3/2	4.2
			0.4/2	3.5
			0.5/0	2.7
			0.5/2	1.9
3			0.4/0	5.2	0.4/0
			0.3/2	4.2
			0.4/2	3.5
			0.5/0	2.7
			0.5/2	1.9
4			0.5/2	1.9	0.5/2