Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Lane-changing trajectory planning method for automated vehicles under various road line-types
This study proposes a lane-changing trajectory planning method for automated vehicles under various road line-types. The method uses the polynomial regression model to describe the road line-types, and then a non-linear optimisation model is constructed to generate the lane-changing trajectory based on the road polynomial functions. The process of connecting the lane-changing manoeuvre with the car-following manoeuvre is discussed in this study, which ensures the ride comfort of the ego vehicle after the lane-changing manoeuvre. Moreover, considering that the lag vehicle on the target lane may be affected by the lane-changing manoeuvre, the situation that the lag vehicle maintains the car-following manoeuvre with the ego vehicle is taken into account in the authors’ model. Another small innovation is that they have designed a simple and effective method to find the suitable initial guess for the proposed non-linear optimisation model. The simulation results show that the lane-changing trajectory generated by the proposed model is smooth and continuous, and the automated vehicle can avoid potential collisions efficiently during the lane-changing process. In emergent conditions, the proposed model can also plan the corrected trajectory to ensure safety.
Lane-changing trajectory planning method for automated vehicles under various road line-types
This study proposes a lane-changing trajectory planning method for automated vehicles under various road line-types. The method uses the polynomial regression model to describe the road line-types, and then a non-linear optimisation model is constructed to generate the lane-changing trajectory based on the road polynomial functions. The process of connecting the lane-changing manoeuvre with the car-following manoeuvre is discussed in this study, which ensures the ride comfort of the ego vehicle after the lane-changing manoeuvre. Moreover, considering that the lag vehicle on the target lane may be affected by the lane-changing manoeuvre, the situation that the lag vehicle maintains the car-following manoeuvre with the ego vehicle is taken into account in the authors’ model. Another small innovation is that they have designed a simple and effective method to find the suitable initial guess for the proposed non-linear optimisation model. The simulation results show that the lane-changing trajectory generated by the proposed model is smooth and continuous, and the automated vehicle can avoid potential collisions efficiently during the lane-changing process. In emergent conditions, the proposed model can also plan the corrected trajectory to ensure safety.
Lane-changing trajectory planning method for automated vehicles under various road line-types
Wang, Ying (Autor:in) / Wei, Chong (Autor:in) / Liu, Erjian (Autor:in) / Li, Shurong (Autor:in)
IET Smart Cities ; 2 ; 14-23
02.03.2020
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
lane-changing process , road vehicles , road safety , polynomial regression model , lane-changing trajectory planning method , road line-types , automated vehicle , road traffic control , polynomials , trajectory control , mobile robots , lane-changing manoeuvre , lag vehicle , car-following manoeuvre , target lane , optimisation , ego vehicle , collision avoidance , nonlinear optimisation model , road polynomial functions , regression analysis
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