A dynamic lane-changing trajectory planning model for automated vehicles

Yang, Da; Zheng, Shiyu; Wen, Cheng; Jin, Peter J.; Ran, Bin

doi:10.1016/j.trc.2018.06.007

Cited by 178 publications

(118 citation statements)

References 35 publications

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“…Yang et al [32] have proposed that lanechanging maneuver in real-world traffic can be roughly categorized into two types: the ego vehicle is located in front of vehicle 2 and the ego vehicle is located behind vehicle 2 at the initial moment. Similar to Yang et al [32], we also consider that the overtaking maneuver includes two types according to the initial relative positions between the ego vehicle and vehicle 2 (see Figures 6(a) and 6(b)). In the figure, the solid vehicles indicate their current positions and the dashed vehicle indicates the final position of the ego vehicle.…”

Section: Scenario Description and Simulation Results Analysismentioning

confidence: 99%

“…erefore, selecting a suitable curve function to represent the trajectory according to the traffic condition is important. In the relevant trajectory planning studies, the commonly used geometric curves include the spline curve [13][14][15][16][17], trapezoidal acceleration curve [18][19][20][21][22], Bezier curve [23][24][25][26], and polynomial curve [27][28][29][30][31][32][33].…”

Section: Introductionmentioning

confidence: 99%

“…ey concluded that the continuity of the polynomial curve could ensure the robustness of trajectory. Yang et al [32] proposed a trajectory planning model based on the cubic polynomial curve. ey focused on the trajectory replanning problem in dynamic driving environments.…”

Section: Introductionmentioning

confidence: 99%

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A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers

Wang

Wei

2020

Mathematical Problems in Engineering

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Lane-changing and overtaking are conventional maneuvers on roads, and the reference trajectory is one of the prerequisites to execute these maneuvers. This study proposes a universal trajectory planning method for automated lane-changing and overtaking maneuvers, in which the trajectory is regarded as the combination of a path and its traffic state profiles. The two-dimensional path is represented by a suitable curve to connect the initial position with final position of the ego vehicle. Based on the planned path, its traffic state profiles are generated by solving a nonlinear mathematical optimization model. Moreover, the study discretizes the time horizon into several time intervals and determines the parameters to obtain the continuous and smooth profiles, which guarantees the safety and comfort of the ego vehicle. Finally, a series of simulation experiments are performed in the MATLAB platform and the results show the feasibility and effectiveness of the proposed universal trajectory planning method.

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Section: Scenario Description and Simulation Results Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers

Wang

Wei

2020

Mathematical Problems in Engineering

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“…Finally, the models proposed in this study can be used in motion planning of the LCV and CFV during LC process. The generated trajectory can be further integrated with power transmission model or tyre model in the vehicle control research [36]- [38].…”

Section: Discussionmentioning

confidence: 99%

Modelling and Analysis of Mutually Adaptive Vehicle Maneuvers During the Inserting Process of Lane Changing Vehicle in Urban Driving Context

et al. 2020

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This study developed a pair of lane changing (LC) model and car following (CF) model. They are used to investigate mutually adaptive maneuver of LC vehicle (LCV) and its immediate CF vehicle during the LCV's inserting process. The two models are developed based on a multianticipative CF model to simulate both of the LC and LC-adaptive CF maneuvers. A group of pairwise parameters are applied in the models to reflect the stimuli perceived by the two vehicle drivers simultaneously. Based on the united model framework, the features of the two vehicle maneuvers which are mutually and intensively influenced can be compared and analyzed. Vehicle trajectories collected on the urban arterial are applied to calibrating and validating the two models. Results show that the developed models can fit the trajectories in a higher accuracy than the previous models. The estimates of the model parameters revealed that dynamics of lateral moving vehicle influence the LC and CV maneuvers in different ways. It is found that the lateral influence has the heaviest influence on the vehicle maneuvers than other stimuli. The vehicles also adjust their maneuvers along with the change of traffic signal or LC target. INDEX TERMS Microscopic traffic flow, lane changing, car following, vehicle trajectory.

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“…Lane change trajectory techniques are classified into two categories [ 9 ]: The static and the dynamic planning methods. The dynamic planning method is more precise than the static planning one, due to the fast movement of vehicles.…”

Section: Introductionmentioning

confidence: 99%

Design of a Cooperative Lane Change Protocol for a Connected and Automated Vehicle Based on an Estimation of the Communication Delay

Jung

2018

Sensors

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Connected and automated vehicles (CAVs) have recently attracted a great deal of attention. Various studies have been conducted to improve vehicle and traffic safety through vehicle to vehicle (V2V) communication. In the field of CAVs, lane change research is considered a very challenging subject. This paper presents a cooperative lane change protocol, considering the impact of V2V communication delay. When creating a path for a lane change in the local path planning module, V2V communication delay occurs. Each vehicle was represented, in our study, by an oriented bounding box (OBB) to determine the risk of collision. We set up a highway driving simulation environment and verified the improved protocol by implementing a longitudinal and lateral controller.

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A dynamic lane-changing trajectory planning model for automated vehicles

Cited by 178 publications

References 35 publications

A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers

A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers

Modelling and Analysis of Mutually Adaptive Vehicle Maneuvers During the Inserting Process of Lane Changing Vehicle in Urban Driving Context

Design of a Cooperative Lane Change Protocol for a Connected and Automated Vehicle Based on an Estimation of the Communication Delay

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