Gain‐scheduling control of dynamic lateral lane change for automated and connected vehicles based on the multipoint preview

Nie, Zhigen; Li, Zhongliang; Wang, Wanqiong; Zhao, Wansheng; Lian, Yufeng; Outbib, Rachid

doi:10.1049/iet-its.2020.0050

Cited by 3 publications

(4 citation statements)

References 35 publications

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“…The control strategy using LQR is designed based on the desirable states of the reference trajectory which are employed in the proposed strategy, and the specific design refers to reference. 31 The parameters setting of the LQR algorithm adopts 100% of its the nominal value.…”

Section: Simulations and Discussionmentioning

confidence: 99%

“…5,25,26 In the paper, it is assumed there are no other vehicles except LV. Replanning real-time reference trajectory of LOA involving multiple other vehicles can refer to the Author’s previous research 31 in detail.…”

Section: Active Lateral Obstacle Avoidancementioning

confidence: 99%

“…The additional yaw moment M z can be generated with the longitudinal tire force difference between the left and right wheels. 28,31 The additional yaw moment can be calculated as…”

Section: Active Lateral Obstacle Avoidancementioning

confidence: 99%

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Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

Nie

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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In the paper, a novel framework for the control system of lateral obstacle avoidance (LOA), which is based on dynamic early warning for intelligent vehicles shared-driven by people and vehicles (IVSDPVs), is presented to perform LOA in dynamic conditions (e.g. the speed of obstacle vehicles changes). Firstly, to achieve the accurate warning of IVSDPVs and adjust that with dynamic intervention of the driver in dynamic conditions, a multi-level early warning algorithm based on fusion and complementarity of the critical safe distance and reciprocal of collision time is proposed. Moreover, the critical safe distance is obtained using a combination of longitudinal with lateral directions. Secondly, if the driver does not respond until the “Critical” level warning, the IVSDPVs is automatically taken over by the control strategy to conduct active LOA control. Thirdly, to overcome the parameters perturbation, that is, mass, cornering stiffness, and signal disturb, the robust control strategy is presented to achieve accurate trajectory tracking of LOA. Finally, the effectiveness of the proposed control strategy is evaluated by testing on the Simulink/Trucksim platform to demonstrate the controller’s capability in obtaining accurate early warning and achieving LOA across various working conditions.

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Section: Simulations and Discussionmentioning

confidence: 99%

Section: Active Lateral Obstacle Avoidancementioning

confidence: 99%

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Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

Nie

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Ref. [37] proposed a lateral LC control strategy for dynamic trajectory planning based on tracking the speed and acceleration of surrounding vehicles.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Spatiotemporal Characteristics of Lane-Changing at the Freeway Weaving Area from Trajectory Data

Ouyang,

Yang

2024

Sustainability

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Intensive lane-changing (LC) events are one of the great causes that make freeway weaving areas become bottlenecks. This study proposes an approach using vehicle trajectory data to investigate the spatiotemporal distributions of the number of LC events, void occupancies, and throughput variations at the freeway weaving area. Firstly, all LC events are extracted from the cleaned dataset and classified into four types according to the LC vehicles’ origin–destination lanes and LC directions. Secondly, the time and space void occupancies are calculated using the kinematic theory. Thirdly, the throughput variations are identified with the oblique N-curve method. Finally, the spatial and temporal distributions of the LC events, void occupancies, and throughput variations are plotted to analyze their characteristics and relationships. The spatial distributions of different types of LC events indicate that most LC events occur at the surrounding area of the on-ramp entrance. Spatial distributions of time void occupancies show that the time void in the original lanes is quite small while that in the target lanes is much larger. Furthermore, the time void occupancies amplify downstream when considering vehicles traveling on the road. By comparing the temporal distributions of LC events, void occupancies, and throughput variations, there is a lag effect between the large value occurrences of space void occupancy and throughput reduction and that of the LC events, which can conclude a causal relationship between LC events and the occurrences of the space void occupancies and throughput reductions.

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Trajectory planning and tracking of dynamic lane change for autonomous buses considering vehicle stability in dynamic traffic scenarios

Nie,

Zhou,

Lian

2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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Trajectory planning and tracking of lane change are critical technologies for autonomous buses. Characteristics of the buses susceptible to stability problems resulting from the high height, large passenger capacity and long lengths, coupling the dynamic traffic with the dynamic changes in the states of adjacent vehicles and road adhesion coefficient, put forward great challenges in lane change for autonomous buses (ABs). To cope with the foregoing challenges, a framework is proposed to achieve the trajectory planning and tracking of dynamic lane change for ABs. For trajectory planning approach, the trajectory planning and replanning is optimized in the safe range of longitudinal length of the lane-changing trajectory to obtain the real-time reference trajectory, combining consideration of vehicle yaw, roll stability and lane-changing efficiency. The minimum longitudinal length of lane-changing trajectory determined by the yaw stability and roll stability of ABs, combined with the maximum length formed by the adjacent vehicles with dynamic states, form the real-time safe range for lane-changing trajectory planning. For trajectory tracking approach, a tracking approach using model predictive control based on multipoint preview is proposed to achieve the real-time planned trajectory tracking considering buses stability. The effectiveness of the proposed strategy is evaluated by simulating an experimentally validated Trucksim model in different dynamic traffic scenarios to demonstrate the capability of the strategy in trajectory planning and tracking, and guaranteeing vehicle stability for dynamic lane change of ABs.

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Gain‐scheduling control of dynamic lateral lane change for automated and connected vehicles based on the multipoint preview

Cited by 3 publications

References 35 publications

Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

Robust control of lateral obstacle avoidance for intelligent vehicle shared-driven by people and vehicles based on dynamic early warning

Evaluation of Spatiotemporal Characteristics of Lane-Changing at the Freeway Weaving Area from Trajectory Data

Trajectory planning and tracking of dynamic lane change for autonomous buses considering vehicle stability in dynamic traffic scenarios

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