Abstract
Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on autonomous vehicle technology mainly focus on avoiding obstacles; however, few studies have accounted for dynamic lane changing based on some certain assumptions, such as the lane-changing speed is constant or the terminal state is known in advance. In this study, a typical lane-changing scenario is developed with the consideration of preceding and lagging vehicles on the road. Based on the local trajectory generated by the global positioning system, a path planning model and a speed planning model are respectively established through the cubic polynomial interpolation. To guarantee the driving safety, passenger comfort and vehicle efficiency, a comprehensive trajectory optimization function is proposed according to the path planning model and speed planning model. In addition, a dynamic decoupling model is established to solve the problems of real-time application to provide viable solutions. The simulations and real vehicle validations are conducted, and the results highlight that the proposed method can generate a satisfactory lane-changing trajectory for automatic lane-changing actions.
Highlights
Nowadays, high energy conservation efficiency, safety and transportation convenience represent mainstream developing directions in automobile industry [1], and transportation safety is always the top priority when driving vehicles
Some researches have investigated the trajectory planning techniques for dynamic lane-changing, most of emerging works assume that the speed at the end of the lanechanging process is usually supposed to be equal with the initial velocity [27, 28]
The dynamic optimized lane-changing (DOLC) and DDLC methods can acquire the information of the surrounding vehicles in real time and plan the lane-changing trajectory dynamically with a certain frequency
Summary
High energy conservation efficiency, safety and transportation convenience represent mainstream developing directions in automobile industry [1], and transportation safety is always the top priority when driving vehicles. When the state of surrounding vehicles changes suddenly, how to adjust the trajectory timely and plan a new trajectory for returning back to the original lane should be investigated Motivated by these considerations, this study designs a pragmatic dynamic trajectory planning model for lanechanging of autonomous vehicles. By solving sn , the vehicle position can be mapped from the Cartesian coordinate into the s − coordinate
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