Automatic lane change with lane-biased strategy

A non-transitory computer readable storage medium having embodied thereon a program, the program being executable by a processor to perform a method for automatically navigating a vehicle between lanes using a bias offset, the method comprising:

• generating a first reference line in a current lane from received sensor data;
• generating a biased reference line in the current lane with a bias offset from the received sensor data, wherein generating a biased reference line include generating a maximum bias offset and a minimum bias offset greater than zero, wherein the biased reference line is generated between the maximum bias offset and the minimum bias offset based on location of other vehicles;
• selecting a best trajectory from a plurality of trajectories from the first reference line to the biased reference line;
• generating one or more commands to navigate the vehicle from the first reference line in the current lane to the biased reference line in the current lane;
• generating a second reference line for an adjacent lane from the received sensor data;
• selecting a best trajectory from a plurality of trajectories from the biased reference line to the second reference line for the adjacent lane;
• and
• generating one or more commands to navigate from the biased reference line in the current lane to the second reference line in the adjacent lane.

A method for automatically navigating a vehicle between lanes using a bias offset, comprising:

• generating, by a data processing system stored in memory and executed by one or more processors, a first reference line in a current lane from sensor data received from a perception component;
• generating, by the data processing system, a biased reference line in the current lane of the autonomous vehicle with a bias offset from the first reference line based on the received sensor data, wherein generating a biased reference line include generating a maximum bias offset and a minimum bias offset greater than zero, wherein the biased reference line is generated between the maximum bias offset and the minimum bias offset based on location of other vehicles;
• selecting, by the data processing system, a best trajectory from a plurality of trajectories from the first reference line to the biased reference line;
• generating, by the data processing system, one or more commands to navigate the vehicle from the first reference line in the current lane to the biased reference line in current lane;
• generating, by the data processing system, a second reference line for an adjacent lane from the received sensor data;
• selecting, by the data processing system, a best trajectory from a plurality of trajectories from the biased reference line to the second reference line for the adjacent lane;
• generating, by the data processing system, one or more commands to navigate from the biased reference line in the current lane to the second reference line in the adjacent lane.