A dynamic trajectory planning method for lane-changing maneuver of connected and automated vehicles

Abstract

This paper describes a dynamic trajectory planning method for lane-changing maneuver of connected and automated vehicles (CAVs). The proposed dynamic lane-changing trajectory planning (DLTP) model adopts vehicle-to-vehicle (V2V) communication to generate an automated lane-changing maneuver with avoiding potential collisions and rollovers during the lane-changing process. The novelty of this method is that the DLTP model combines a detailed velocity planning strategy and considers more complete driving environment information. Besides, a lane-changing safety monitoring algorithm and a lane-changing starting-point determination algorithm are presented to guarantee the lane-changing safety, efficiency and stability of automated vehicles. Moreover, a trajectory-tracking controller based on model predictive control (MPC) is introduced to make the automated vehicle travel along the reference trajectory. The field traffic data from NGSIM are selected as the target dataset to simulate a real-world lane-changing driving environment. The simulations are performed in CarSim-Simulink platform and the experimental results show that the proposed method is effective for lane-changing maneuver.

A real-time optimal cooperative lane change strategy via V2V communication

“…After simulating the scenarios with the novel proposed method, it would be a great way to execute a comparison to be aware of the advantages. For this purpose, a comparison between the above-mentioned method and the technique introduced by Liu et al 16 is done. To clarify, the proposed method doesn’t need to solve a huge-scale problem by substituting the COP with new simple equations.…”

“…Moreover, t denotes the duration of the LCP. Meanwhile, safe distances are available based on Gipps’ car-following model 16,18 for the FVs (equation (13)) and PVs (equation (14)), respectively:…”

“…To achieve a comfortable LCP, lateral and longitudinal accelerations are two features that should be controlled. The lateral acceleration at the final position represents a factor that determines the comfort of the maneuver 16 which is shown in equation ( 6):…”

“…Another study about dynamic lane-changing trajectory planning (DLTP) of V2V vehicles was done by Yang et al 15 in view of safety, comfort, and time efficiency, and accordingly, a new algorithm for a DLTP was presented. In addition, Liu et al 16 examined DLTP too and found novel algorithms to draw a trajectory safely and determine a start point for the process to experience a better LCP.…”

Automatic Vehicles’ Trajectories Optimization on Highway Exclusive Lanes

“…e trajectories are relatively smooth while simultaneously conforming to car-following, lane-changing behaviors, and maintaining steady speeds. (2) A modified algorithm is established to reduce the computation time: most existing studies [30,46,47] either oversimplified the trajectories' constraints, adopted ad hoc heuristics [35,38] without optimality assurance, or relied on complicated numerical procedures [48][49][50] that are unsuitable for real-time applications. In this paper, the ES can reduce the large scale of lane-change spots and rapidly search for optimum results by gathering a series of individuals' advantages.…”