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

Wang, Ying; Wei, Chong

doi:10.1155/2020/1023975

Cited by 6 publications

(6 citation statements)

References 36 publications

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“…In addition, the SLC method only considers the traffic environment at the decision instant to plan the lane-changing trajectory, which is unable to be adjusted during the whole lane-changing process. Thus, the SLC method can be used only in simple and static scenarios and, therefore, is difficult to plan a feasible and safety trajectory under dynamic and complex conditions [25,26]. In contrast, the DOLC method mainly accounts for the variation of environment and updates the lane-changing trajectory dynamically with a certain frequency during the lane-changing process, thereby improving the safety when encountering with complex and dynamic driving environments [27,28].…”

Section: A Simulation Validationmentioning

confidence: 99%

“…By this manner, the problem is converted into a constrained optimization problem. Wang et al [26] propose a trajectory planning method for automated lane-changing operations, and similarly the quintic function is exploited to link the initial position with the final position of the ego vehicle. However, the lane-changing trajectory planning methods mentioned above only consider the instantaneous traffic state and are therefore difficult to cope with the dynamic driving conditions.…”

mentioning

confidence: 99%

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Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Liu

Zhou

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on autonomous vehicle technology mainly focus on avoiding obstacles; however, few studies have accounted for dynamic lane changing based on some certain assumptions, such as the lane-changing speed is constant or the terminal state is known in advance. In this study, a typical lane-changing scenario is developed with the consideration of preceding and lagging vehicles on the road. Based on the local trajectory generated by the global positioning system, a path planning model and a speed planning model are respectively established through the cubic polynomial interpolation. To guarantee the driving safety, passenger comfort and vehicle efficiency, a comprehensive trajectory optimization function is proposed according to the path planning model and speed planning model. In addition, a dynamic decoupling model is established to solve the problems of real-time application to provide viable solutions. The simulations and real vehicle validations are conducted, and the results highlight that the proposed method can generate a satisfactory lane-changing trajectory for automatic lane-changing actions. Index Terms-Autonomous vehicle, dynamic lane-changing, trajectory planning, real-time optimization, discrete global trajectory NOMENCLATURE A. ACRONYMS ADAS advanced driving assistant systems PFP potential field projection method RRT rapidly exploring random tree TP preceding vehicle on the target lane TL lagging vehicle on the target lane P preceding vehicle on the initial lane E the ego vehicle GPS global positioning system NGSIM next generation simulation SLC the static lane-changing DOLC dynamic optimized lane-changing

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Section: A Simulation Validationmentioning

confidence: 99%

mentioning

confidence: 99%

Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Liu

Zhou

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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“…Y. Wang and Wei (2020) proposed a CAV LC and overtaking model. The developed model used the polynomial curve to generate vehicle trajectories to connect a CAV's initial and target final positions.…”

Section: Introductionmentioning

confidence: 99%

Simulation of mixed traffic with cooperative lane changes

Huang

et al. 2021

Computer aided Civil Eng

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This study proposes a mixed traffic simulation framework that integrates vehicle car‐following (CF) and lane‐changing (LC) with connected and automated vehicles (CAVs) of different cooperation behaviors. This framework is centered at a CAV LC model incorporated with CF dynamics in mixed traffic. The model was calibrated and validated using data collected from small‐scale field experiments in a previous study. To demonstrate a large‐scale application of this framework, PTV Vissim was used to implement the framework on a segment of Interstate 75 highway. Sensitivity analyses were conducted to investigate the impacts of key parameters on traffic mobility and stability performance. The results show that traffic performance degraded as the traffic demand and vehicle diverging rate increased. As the CAV penetration rate increased, traffic performance fluctuated when CAVs were more conservative. As the CAV cooperation rate, incentive criterion threshold, and incentive criterion bias increased, mobility and stability performance first improved and then degraded. When CAV platooning was considered, traffic performance was enhanced. These findings shed light on mixed traffic management from the perspectives of both transportation operators (e.g., facilities and policies to promote vehicle cooperation) and automakers (e.g., tuning parameters in their LC models) to achieve the best traffic performance.

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“…16 Based on the planned path, its traffic state profiles are generated by solving a nonlinear mathematical optimization model, 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. 17 However, the path planning strategies are not suitable for variable curvature road.…”

Section: Introductionmentioning

confidence: 99%

Design of variable curvature lane changing control system based on inverse system decoupling

Liang

Zhao

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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At present, the lane changing technology for a single driving environment has been relatively mature, but the actual situations are much more complicated, such as the changing curvature and the changes in road conditions. In this paper, a new lane changing obstacle avoidance control strategy for the variable curvature road was proposed. It has two stages including path planning for variable curvature lane changing and inverse system decoupling (ISD) control for path tracking. The first stage established the lane changing path models for the variable curvature road. A longitudinal-lateral safe distance model was proposed to constrain the safe boundary of the lane changing path. The second stage proposed a dynamic decoupling method for longitudinal and lateral motion based on the inverse system decoupling, a direct yaw moment and active front wheel steering coordinated control method was designed. The inverse system decoupling algorithm can correct the single point preview (SPP) method to improve the stability and the path tracking accuracy in the lane changing obstacle avoidance process. The strategy was simulated by CarSim/Simulink co-simulation, and the experiments were carried out on the hardware-in-the-loop platform. The results show that the proposed control strategy can effectively avoid obstacles when the vehicle is driving on the variable curvature road. Besides, for the different road conditions and the strong non-linearity generated during the lane changing process, the control strategy can reduce the tracking error by a maximum of 32.7%, both the yaw rate and side slip angle can be controlled in a smaller range.

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

Cited by 6 publications

References 36 publications

Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Simulation of mixed traffic with cooperative lane changes

Design of variable curvature lane changing control system based on inverse system decoupling

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