Lee, Eugene (Ajou University), Ma, Jiaqi (University of California, Los Angeles), So, Jaehyun (Ajou University)

A Clustering Approach to Lane Change Planning for Automated Buses

Scheduled for presentation during the Regular Session "S10b-Cooperative and Connected Autonomous Systems" (WE-EA-T10), Wednesday, November 19, 2025, 14:30−14:50, Cooleangata 4

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 19, 2025

Abstract

Globally, automated buses are expected to replace conventional buses, but face challenges in lane changing near intersections, often requiring manual control. This study presents a strategy for fully autonomous lane changes by clustering approaching vehicles and utilizing gaps between them to enable smoother transitions. The strategy was evaluated using lane-changing time, conflict rates, and speed variability of following vehicles. Results showed a 4.7-second reduction in lane-changing time, a 24.3% drop in conflict rates, and a 3.17 km/h decrease in speed variability—improving efficiency, safety, and traffic flow stability. These outcomes are anticipated to enhance passenger satisfaction and traffic continuity, supporting more stable and efficient automated bus operations.