Abstract
A vehicle-to-vehicle (V2V) cooperative trajectory-planning algorithm for connected vehicles driven on a winding road considering characteristics of human drivers is presented in this paper. The algorithm of cooperative game is introduced to plan collision-free trajectories for the involved encountering vehicles, with satisfaction of the safety requirements including vehicle stability and road-departure avoidance. The trajectory-planning algorithm is then converted to a Model Predictive Control (MPC) problem and solved with the concept of Pareto Optimality. The algorithm is compared with a V2V trajectory-planning algorithm with non-cooperative game. Simulations are conducted in the scenarios of lane-exchange on arc shaped roads with different radius to verify the proposed algorithm. Results show that the algorithm can accomplish the task of trajectory-planning on either winding road or straight road successfully, considering the driver's characteristics. The difference of collaboration tendency in V2V driving between using cooperative algorithm and non-cooperative algorithm is also studied and described.
Highlights
In recent decades, trajectory planning for automatic driving and semi-automatic driving has been studied intensively [1], [2]
CONTROLLER DESIGN the linear time varying (LTV) model of the V2V encountering system is represented firstly, and the description of the safety constraints and the cooperative trajectory-planning method based on Model Predictive Control (MPC) are presented
The two encountering driver-vehicle systems (DVSs) are assumed to be two vehicles driven by a skillful driver p and a less skillful driver q, respectively
Summary
Trajectory planning for automatic driving and semi-automatic driving has been studied intensively [1], [2]. In [11]–[14], the human-like controllers were designed employing the driver model with single preview point. The two-point preview driver model can be employed in steering control on winding road [17], [18], such as lane keeping [22], [23], lane tracking [10], etc. K. Zhang et al.: Design of a Cooperative V2V Trajectory-Planning Algorithm for Vehicles Driven on a Winding Road while the surrounding vehicles showing no collaboration. A collaboration trajectory-planning algorithm for the two connected driver-vehicle systems (DVSs) running on a winding road is presented. 2) The V2V trajectory-planning algorithm is effective when the road is winding or straight, with the characteristics of human drivers being taken into consideration. With the driver-vehicle model, both the vehicle dynamics and the driver’s characteristics can be described
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
