Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system

Journal of Advanced Transportation

et al. 2017

Self Cite

A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system.

Section: And Wu Investigated Lyapunov Concept Exponents and Applicatimentioning

confidence: 99%

Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

Peng

Guan

Journal of Advanced Transportation

et al. 2017

Self Cite

Journal of Advanced Transportation

“…However, treating the length of the vehicle as a diameter results in a significant amount of space in the lateral direction which does not contain a vehicle, and the vehicle width can thus exceed that of a single lane; therefore, this approach is not appropriate for lane-changing maneuvering. A few scholars have used a dynamic circle to cover the entire vehicle, where the width of the vehicle is the diameter of the dynamic circle and the swept area of the dynamic circle is regarded as the vehicle area [9,12], as shown in Figure 4(b). However, this method only considers the physical characteristics of the vehicle and neglects the different collision possibilities in terms of the different driving velocities and the different collision probabilities in the horizontal and vertical directions.…”

Section: Selection Of the Vehicle Modelmentioning

confidence: 99%

“…Since overtaking behaviour can be regarded as two occurrences of lane changing, lane-changing trajectory planning has become one of the key components of automated vehicles. Bézier [5,6], spline [7,8], and polynomial curves [9,10] are currently the must utilized lane-changing trajectory planning methods for automated vehicles. The Bézier curve can continuously generate a lane-changing trajectory using the radius of curvature but is only applicable for static planning because it requires the selection of control points and cannot achieve real-time obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

Bai

Shen

Wei

et al. 2017

Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper aims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC). Based on the characteristics of accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lanechanging model under different degrees of collaboration with the following vehicle in the target lane by considering vehicle kinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round vehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships between the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated lane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC, we can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and comfort control.

“…Most importantly, IoV and VANETs should also offer a large number of safety applications with high priority, including autonomous lane change maneuver, forward collision warning, traffic signal violation, emergency brake lights, and so on. [16][17][18] By the aid of IVT system and RSUs in IoV scenario, safety applications use beacon messages that are based on periodic message exchanges of single-hop broadcast packets (also known as cooperative awareness messages) on CCH. 11 The periodical exchange of beacon messages on CCH among IVT system and RSUs will make vehicles aware of their surroundings and will also be exploited by higher layer protocols and applications.…”

Section: Problem and Motivationmentioning

confidence: 99%

MAC²: Enabling multicasting and congestion control with multichannel transmission for intelligent vehicle terminal in Internet of Vehicles

Cao

International Journal of Distributed Sensor Networks

et al. 2018

Internet of Vehicles has become a promising way to realize the evolution from vehicular ad hoc networks and nextgeneration intelligent transportation system into future autonomous driving scenarios, clean-energy intelligent vehicles, and Smart Cities. However, multicasting service messages on available service channels and periodic exchanges of beacon messages on control channel cause the problem of efficiently scheduling those messages via multichannel transmission for intelligent vehicle terminal, to support real-world applications in Internet of Vehicles scenario. In this article, we investigate the intelligent vehicle terminal architecture and, particularly, design the wireless communication board by incorporating multicasting and congestion control modules. Especially, we present a multicast data delivery scheme with random-delay lowest-cost constraint to transfer service messages on service channels. Furthermore, a priority-aware congestion control scheme is also proposed by considering differentiated priorities of beacon messages on control channel, to cope with the congestion problem at bottleneck vehicle node. Based on the proposed schemes, we build up the RanLow (Random-delay Lowest-cost) module and the priority-aware congestion control (PARCEL) module by enabling multicasting and congestion control together in wireless communication board of the intelligent vehicle terminal architecture. Finally, the experimental results and comparison show that our devised RanLow module and PARCEL module are feasible and more efficient than existing schemes.