A novel decision-making unit for automated maneuver of articulated vehicles in real traffic situations

Abstract

In this paper, a new decision-making algorithm for double lane change maneuver of an articulated vehicle in real dynamic circumstances is studied. A novel method for determining the decision conditions is used based on the articulated vehicle kinematics and dynamics. Through this method, several points of the articulated vehicle are considered in various situations when conducting double lane change maneuver, and the critical points are determined. A new realistic dynamic method is used based on a 16-degrees of freedom dynamic model of the articulated vehicle. The sliding mode control method is utilized to increase the method efficiency. Therefore, the least safe time to perform the double lane change maneuver is extracted based on the sliding mode control method as tracking control. A new Articulated Vehicle Least safe time formulation is determined for dynamic circumstances. Based on the results of simulated test, the acceptable time range is also established for conducting the lane change maneuver. The lane change maneuver is generalized to the double lane change maneuver. Decision-making algorithm is introduced based on real traffic situations. The dynamic approach and the decision-making algorithm are verified. Results show the validity of the reflected method meaning that the decision-making algorithm is acceptable.

A new automated motion planning system of heavy accelerating articulated vehicle in a real road traffic scenario

“…The time duration of the Manoeuvre can be determined in modules of actual traffic, separately. Shojaei et al 26 recognised the critical points of the tractor semi-trailer for the safe lane change manoeuvre. In this study, the critical points of the tractor semi-trailer, and the constraints in the lane change manoeuvre extracted in the mentioned paper are utilised.…”

“…It is assumed that the amount of longitudinal safety distance is equal in the second and fourth situations. The manoeuvring time duration (t 4 ) is provided from equation (26).…”

“…Although the standard has been provided for a passenger car, they showed that the least safe time of the manoeuvre could be determined using the standard for yaw-rate of the tractor, which is far greater than the yaw-rate of a semi-trailer. 26 In this study, it is tried to propose a novel method to determine the AV feasible trajectories according to the AV dynamics. For this purpose, the effective parameters, on the stability of the AV are recognised.…”

“…The remaining 10 degrees of freedom are also allocated to the wheels. 26 In this study, the 16-DOF dynamic model is applied based on the mentioned dynamic model. The main aim of this section is to assess the feasibility Figure 12.…”

“…The obtained results demonstrated that the method could be implemented as a safe and feasible manoeuvre for the constant speed articulated vehicle in real traffic conditions. 26 After so many researches on vehicle guidance, there are still some gaps in this area. For example, the presence of other vehicles in the manoeuvre has got less attention, and the accelerating motion of vehicles in real traffic conditions has been ignored.…”