Lane-Changing Trajectory Planning Model for Automated Vehicles Driving on a Curved Road

This paper attempts to study the lane-changing trajectory planning problem of automated vehicles driving on a curved road. The existing models have the following shortcomings. First, the curvature of the curved road is assumed as a constant, while the curvature is a gradient in the real world. Second, the existing studies either do not consider the speed variations of the surrounding vehicles in lane changing or ignore the curvature difference between the target and current lanes. To overcome the shortcomings, this study puts forward a novel trajectory planning model for curved-road lane changing of automated vehicles. In the model, a new strategy of planning a straight-road lane-changing trajectory first and then modifying it to adapt the curvature variation of the curved road is adopted, and a new collision-avoidance model for curved-road lane changing is developed. The proposed model is evaluated by comparing with the existing models and CarSim simulation platform. The results indicate that the proposed model can enhance the curved-road lane-changing safety of automated vehicles, and the lane-changing trajectory planned by the proposed model can be well tracked by automated vehicles.

• Record URL:
  • https://doi.org/10.1177/03611981221103242
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/03611981
• Supplemental Notes:
  • Hao Luo https://orcid.org/0000-0002-0172-4591© National Academy of Sciences: Transportation Research Board 2022.
• Authors:
  • Luo, Hao
  • 0000-0002-0172-4591
  • Wang, Min
  • Luo, Weiming
  • Lv, Wenjie
  • Yang, Da
• Publication Date: 2023-1

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 929-942
• Serial:
  • Transportation Research Record: Journal of the Transportation Research Board
  • Volume: 2677
  • Issue Number: 1
  • Publisher: Sage Publications, Incorporated
  • ISSN: 0361-1981
  • EISSN: 2169-4052
  • Serial URL: http://journals.sagepub.com/home/trr

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Curvature; Highway curves; Highway safety; Lane changing; Trajectory control
• Subject Areas: Highways; Operations and Traffic Management; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01851093
• Record Type: Publication
• Files: TRIS, TRB, ATRI
• Created Date: Jul 6 2022 3:50PM