Adaptive Lane Change Trajectory Planning Scheme for Autonomous Vehicles Under Various Road Frictions and Vehicle Speeds

This paper proposes an adaptive lane change trajectory planning scheme to road friction and vehicle speed for autonomous driving, while considering both the maneuver safety and the comfort of occupants. In regard to achieve smooth trajectory, a 7th-order polynomial function is constructed to ensure continuity of the planned trajectory up to the derivative of the curvature (jerk). Unlike traditional planning methods that only consider very limited maneuvering conditions, the proposed scheme adapts to a wide range of road friction and vehicle speed, while ensuring enhanced occupants’ ride comfort and acceptance. The proposed trajectory planning scheme creatively integrates all the dynamic constraints which are defined by road friction, safety, comfort and human-like driving style. It is shown that the proposed lane change planning algorithm reduces to the identification of exclusively the lane change duration given a constant forward speed. Illustrative simulation examples in MATLAB/Simulink have been conducted to demonstrate the validity of the proposed scheme. The acceptable traceability of the planned lane change trajectories is further demonstrated through path tracking analysis of a full-vehicle model in CarSim. Finally, experimental tests have been conducted based on Quanser’s latest self-driving car (QCar) to verify the practical effectiveness of the proposed trajectory planning scheme.

• Record URL:
  http://dx.doi.org/10.1109/TIV.2022.3178061
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2023, IEEE.
• Authors:
  • Hu, Juqi
  • Zhang, Youmin
  • Rakheja, Subhash
• Publication Date: 2023-2

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1252-1265
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 8
  • Issue Number: 2
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Adaptive control; Autonomous vehicles; Lane changing; Roads; Speed; Surface friction (Geophysics); Trajectory control
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01884246
• Record Type: Publication
• Files: TRIS
• Created Date: May 31 2023 10:58AM