Abstract
Intelligent vehicles are expected to avoid collision through emergency lane change when a vehicle suddenly appears. Therefore, it is very meaningful to plan a path for collision-free lane change with a vehicle in front, which strikes a balance between vehicle performance and driving comfort. In this paper, a path planning method is designed based on fifth-order Bezier curve for lane change with a vehicle in front. Firstly, the boundaries were determined to ensure the fast response to the changing environment and driving comfort. Then, a multi-objective optimization function was set up, considering the curvature at the start point, the maximum curvature, the angle between path centre and road axis (the maximum swing angle), and the lane change time. Next, the coordinates of the control points that determine the curve shape were solved, and thus the optimal path was set up based on the fifth-order Bezier curve. Simulation results show that the proposed method could output suitable collision-free paths for lane change at different vehicle velocities. The research results shed new light on the dynamic path planning in actual traffic environment and enjoy great application value.
Highlights
Intelligent vehicle is a new-generation vehicle that can respond reasonably to emergency situations, such as making an emergency lane change to avoid collision with a vehicle that suddenly appears
The positive and negative trapezoidal lateral acceleration (PNTLA) method [5], [6], assuming that the lateral acceleration profile consists of two opposite trapezoids with the same size for the lane change on straight road, can output a continuous-curvature path for lane change and optimize the lane change time to overcome the constraint of destination position
The optimal path was planned for the lane change before collision avoidance
Summary
Intelligent vehicle is a new-generation vehicle that can respond reasonably to emergency situations, such as making an emergency lane change to avoid collision with a vehicle that suddenly appears. COLLISION-FREE PATH PLANNING BASED ON FIFTH-ORDER BÉZIER CURVE The vehicle velocity directly affects the safety and comfort of lane change. Where ay is the minimum lateral acceleration to achieve collision-free lane change with a front vehicle; vx is the speed of the host vehicle; yd is the lane width; Lxr is the longitudinal distance from the start point to the centre of the host vehicle; ld is the longitudinal distance from the centre of the host vehicle to the contact point; R2 is the arc radius of right boundary;r is the radius of the circle for the host vehicle; B and L are the width and length of the vehicle, respectively; d is the distance from the edge of the host vehicle to that of the lane The sum of Lxr and ld equals the safe distance for the host vehicle to achieve collision-free lane change
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