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Evaluation of impact by control switching according to driving environment

In autonomous driving, safety and computational complexity are the most important topic in system design. However, computational complexity and safety guarantee are a trade-off relationship in vehicle control. Human drivers, on the other hand, change their driving methods according to driving conditions. In order to incorporate this idea, this paper formulates control methods that can be applied to various environments. Simulations were conducted to evaluate the performance of each method. As a result, the computation time could be reduced without compromising safety by combining control methods.