Abstract
Traffic accidents are often caused by improper lane changes. Although the safety of lane-changing has attracted extensive attention in the vehicle and traffic fields, there are few studies considering the lateral comfort of vehicle users in lane-changing decision-making. Lane-changing decision-making by single-step dynamic game with incomplete information and path planning based on Bézier curve are proposed in this paper to coordinate vehicle lane-changing performance from safety payoff, velocity payoff, and comfort payoff. First, the lane-changing safety distance which is improved by collecting lane-changing data through simulated driving, and lane-changing time obtained by Bézier curve path planning are introduced into the game payoff, so that the selection of the lane-changing start time considers the vehicle safety, power performance and passenger comfort of the lane-changing process. Second, the lane-changing path without collision to the forward vehicle is obtained through the constrained Bézier curve, and the Bézier curve is further constrained to obtain a smoother lane-changing path. The path tracking sliding mode controller of front wheel angle compensation by radical basis function neural network is designed. Finally, the model in the loop simulation and the hardware in the loop experiment are carried out to verify the advantages of the proposed method. The results of three lane-changing conditions designed in the hardware in the loop experiment show that the vehicle safety, power performance, and passenger comfort of the vehicle controlled by the proposed method are better than that of human drivers in discretionary lane change and mandatory lane change scenarios.
Highlights
The analysis shows that decision-making of GT-B is more in line with the human driver’s perception of the driving environment in Case I
A game of lane-changing decision-making with Bézier curve path planning is proposed in this paper which considers driving safety, power performance, and passenger comfort comprehensively
The lane-changing safety distance and lane-changing time calculated by the path planning layer are considered in game payoff to enhance safety considerations, which realizes the strong coupling between path planning layer and decision layer
Summary
With the increase in the number of vehicles, the fatality in traffic accidents keeps rising. 1.24 million people were killed in road traffic accidents in 2010 [1]; this number has soared to 1.35 million in 2016 [2] and has remained stubbornly high in recent years. The drivers’ inaccurate estimation of traffic status or illegal operation under lane-changing conditions are the main factors of various traffic accidents [4,5]. The safety of lane-changing has attracted extensive attention in the vehicle and traffic fields. Vehicle lane-changing is a complex condition [6]. The function of a lane-changing assistance system is to select an appropriate lane-changing time, plan a reasonable lane-changing path, and further coordinate the vehicle dynamic performance to realize lane-changing operation. The analysis of the research status will be carried out from the above three aspects
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