Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments
Source abstract
Abstract
Autonomous driving technology in urban environments is a very important avenue of research. Notably, the question of how to plan safe lane-changing trajectories is a challenge in multi-vehicle traffic environments. In our research, three kinds of polynomial lane changing mathematical models were analyzed and compared. It was found that the fifth polynomial is the most suitable for lane changing trajectories; it is defined as a generalized lane-changing trajectory cluster, whereby the minimum lane change time is determined by the vehicle lateral stability threshold. Here, a collision avoidance algorithm is proposed to eliminate unsafe trajectories. Finally, the TOPSIS algorithm is used to solve the multi-objective optimization problem, and the optimal lane-changing expected trajectory is obtained from the safe trajectory cluster. The simulation results showed improvements in lane-changing efficiency of 6.67% and no collisions in the overtaking condition. In general, the proposed method of identifying the optimal lane changing trajectory can achieve safe, efficient and stable lane changing.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Autonomous Vehicle Technology and Safety · Traffic control and management · Traffic and Road Safety
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Key Laboratory of Advanced Manufacturing Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing 401320, China
Chongqing Tsingshan Industrial, Chongqing 402760, China
School of Mechanical Engineering, Chongqing University of Technology, Chongqing 401320, China
Funding
Chongqing Natural Science Foundation Project
References (30)
Show source-provided references
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