Safe and optimal lane-change path planning for automated driving

This paper proposes an integrated lane-change trajectory planning method for advanced driver assistance system of connected and automated vehicles. First, the time-based quintic polynomial automated lane-change model is presented, which could adjust longitudinal and lateral velocity simultaneously. By tuning the lane-change duration and longitudinal displacement in the lane-change model, the lane-change reference trajectories satisfying the demands of safety, lane-change duration, travel distance, and comfort were derived under traffic-free condition. All feasible reference trajectories compose a trajectory map, which includes different driving situations, such as quick and comfortable or sudden and safe lane change. Second, the lane-change constraints induced by surrounding vehicles are introduced. The effects of surrounding vehicles on the lane-change performance are investigated by adjusting the speeds and initial gaps of preceding and rear vehicles. In addition, the initial velocity of the host vehicle is optimized to maximize the area of the trajectory map to enable a safer lane change. Finally, within the derived trajectory map, an optimal lane-change trajectory eliminating potential collisions is calculated by minimizing the lane-change duration, travel distance, driving comfort, and fuel consumption.

• Record URL:
  https://doi.org/10.1177/0954407020913735
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/09544070
• Supplemental Notes:
  • © IMechE 2020.
• Authors:
  • Ding, Yang
  • Zhuang, Weichao
  • Wang, Liangmo
  • 0000-0002-9270-726X
  • Liu, Jingxing
  • Guvenc, Levent
  • Li, Zhen
• Publication Date: 2021-3

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1070-1083
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
  • Volume: 235
  • Issue Number: 4
  • Publisher: Sage Publications Limited
  • ISSN: 0954-4070
  • EISSN: 2041-2991
  • Serial URL: http://pid.sagepub.com/content/current

Subject/Index Terms

• TRT Terms: Automated vehicle control; Crash avoidance systems; Driver support systems; Lane changing; Optimization; Traffic safety; Trajectory control; Vehicle to vehicle communications
• Subject Areas: Highways; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01765276
• Record Type: Publication
• Files: TRIS
• Created Date: Feb 22 2021 10:20AM