Study on Path Planning Method for Imitating the Lane-Changing Operation of Excellent Drivers

Abstract

Lane-changing is an important operation of an autonomous vehicle driving on the road. Safety and comfort are fully considered by excellent drivers in lane-changing operation. However, only the kinematic and dynamic constraints are taken into account in the traditional path planning methods, and the path generated by the traditional methods is very different from the actual trajectory of the vehicle driven by the excellent driver. In this paper, a path planning method for imitating the lane-changing operation of excellent drivers is proposed. Five experienced drivers are invited to do the lane-changing test, and the lane-changing trajectories data under different conditions are recorded. The excellent driver lane-changing model is established based on the genetic algorithm (GA) and back propagation (BP) neural network trained by the data of the lane-changing tests. The proposed approach can plan out an optimized lane change path according to the vehicle condition by learning the excellent drivers’ driving routes. The results of simulations verify that the path generated by the proposed algorithm is basically same as the track selected by the excellent drivers under same conditions, which can reflect the characteristics of the operations of the excellent driver. While applying safe lane-changing to autonomous vehicle, it can improve the ride comfort of the vehicle and therefore reduce the probability of motion sickness of the passengers caused by improper operation during lane change.

Research on Control of Intelligent Vehicle Human-Simulated Steering System Based on HSIC

“…In the process of reducing the deviation, if the deviation change speed is lower than or equal to the predetermined speed, corresponding to area 4 , the proportional mode plus a differential mode control is adopted. In the process of reducing the deviation, if the deviation change speed is greater than the predetermined speed, corresponding to 3 , strong differential control is introduced to the proportional mode, so that the deviation change speed is reduced as fast as possible.…”

“…The automatic driving control technology of intelligent vehicle faces many difficulties in substituting human drivers completely within all conditions range and being accepted by consumers [3,4]. For an intelligent vehicle, when it only controls the steering wheel angle according to the signal of the Electric Power Steering (EPS) angle sensor, it does not control the EPS.…”

Special Feature on Advanced Mobile Robotics

“…Wheeled robots still have interesting issues in mobile robotics. To support autonomous vehicle driving on the road, a method to imitate the lane-changing operation of excellent drivers was introduced by Geng et al [50]. As a result, the ride comfort of the vehicle was improved.…”

Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration

“…As an essential part of the active safety system of autonomous driving or human-driven cars [1][2][3], a lane-change maneuver performed by a vehicle on a terrain [4,5] is a path following or trajectory tracking task for avoiding vehicle-tovehicle collisions. It involves decision, sensing of traffic flow and environmental conditions, planning, and control subject to the constraints such as path constraints, kinodynamic constraints, environmental constraints, and real-time requirements.…”

“…e jerk, as a measure of comfort, is a quadratic polynomial of time. Geng et al [3] proposed a 6-degree polynomial trajectory of the form y � 6 i�3 a i x i , where x and y denote the forward/longitudinal and lateral position, respectively. Based on field test vehicledriver integration data, Wang et al [9] proposed a lanechange trajectory represented by a combination of linear and sinusoidal functions in terms of lane-change ratio.…”