Lane changing trajectory planning and tracking control for intelligent vehicle on curved road

Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gong‐You

doi:10.1186/s40064-016-2806-0

Cited by 21 publications

(15 citation statements)

References 23 publications

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“…In response to the above assumptions, we conducted T-test for means and a correlation analysis on the different characteristics of the respondents and the expected degree, trust and prospects of the intelligent driving, as well as the correlation between the components, as shown in Tab. 4.…”

Section: T-test and Pearson's Correlation Analysismentioning

confidence: 99%

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Research on Customer Marketing Acceptance for Future Automatic Driving—A Case Study in China City

et al. 2019

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This paper investigates the acceptance of intelligent driving vehicles in the Chinese market using Guangzhou City as an example and a field questionnaire investigation based on the innovation diffusion theory. First, we tested the reliability and validity of 2530 effective questionnaires in 2018. Second, the cognition, expectations, technical concerns, and prospective expectations data of consumers with respect to intelligent driving vehicles are analyzed statistically. Finally, T-test and Pearson's correlation analysis is carried out on the intelligent driving vehicle performance parameters and the respondents' basic information. The research shows that consumers are more focused on the developmental prospects of intelligent driving vehicles and express concerns about their technological safety. Furthermore, the acceptance of intelligent driving cars depends on age, the higher the expectation, the sooner to buy an intelligent, and so on. Ninety percentage of the respondents are willing to purchase intelligent driving vehicles and are willing to pay extra money to buy them. This result will provide an objective reference for the government to issue supporting policies and laws regarding intelligent driving vehicles, and it is useful to help the enterprises to adjust their research and developmental directions for intelligent driving vehicles.

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Section: T-test and Pearson's Correlation Analysismentioning

confidence: 99%

“…In recent years, with the development of artificial intelligence technology, especially deep learning, intelligent driving has become possible. Intelligent driving vehicles have gradually become one of the most significant fields of scientific research and have become the direction of future automobile development [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Research on Customer Marketing Acceptance for Future Automatic Driving—A Case Study in China City

et al. 2019

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“…As for straight roads, researchers have proposed various models to generate lanechanging trajectories [9][10][11]. As for curved roads, many lanechanging trajectory planning models were also developed [12,13]. However, these previous studies usually were applied to a specific road line-type.…”

Section: Introductionmentioning

confidence: 99%

Lane‐changing trajectory planning method for automated vehicles under various road line‐types

et al. 2020

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This study proposes a lane-changing trajectory planning method for automated vehicles under various road linetypes. The method uses the polynomial regression model to describe the road line-types, and then a non-linear optimisation model is constructed to generate the lane-changing trajectory based on the road polynomial functions. The process of connecting the lane-changing manoeuvre with the car-following manoeuvre is discussed in this study, which ensures the ride comfort of the ego vehicle after the lane-changing manoeuvre. Moreover, considering that the lag vehicle on the target lane may be affected by the lane-changing manoeuvre, the situation that the lag vehicle maintains the car-following manoeuvre with the ego vehicle is taken into account in the authors' model. Another small innovation is that they have designed a simple and effective method to find the suitable initial guess for the proposed non-linear optimisation model. The simulation results show that the lane-changing trajectory generated by the proposed model is smooth and continuous, and the automated vehicle can avoid potential collisions efficiently during the lane-changing process. In emergent conditions, the proposed model can also plan the corrected trajectory to ensure safety.

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“…A large number of researchers have focused on trajectory planning problem, assuming constant vehicle speed 5,6 or considering the kinematic constraints. [2][3][4][5][6][7] Some approximated the vehicle behaviour with linear dynamic models. [8][9][10] Many others also assumed that the maximum longitudinal or lateral acceleration is constant.…”

Section: Introductionmentioning

confidence: 99%

Integrated longitudinal and lateral guidance of vehicles in critical high speed manoeuvres

Sazgar

Azadi

Kazemi

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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One of the most important and conventional manoeuvres, that is not easy to even skilled drivers, is the high-speed critical lane change on the highways. The main contribution of this study is the development of an integrated longitudinal and lateral guidance algorithm for these manoeuvres. This algorithm consists of two parts: the trajectory planning and the integrated control. In the first part, taking into account the position of the target vehicle for different accelerations, several trajectories are produced. Next, considering the dynamic capabilities of the vehicle, the most appropriate trajectory is selected. Since the proposed trajectory planning approach works algebraically, its computational cost is negligible, which is very valuable for practical implementations. In the second step, using a robust-integrated longitudinal–lateral controller, the control inputs are calculated and transmitted to the brakes, throttle and steering actuators. It should be noted that the trajectory planning and the integrated controller are based on the seven degrees of freedom model of the vehicle, and the nonlinear dynamics of the tyre and the dynamics of the brakes/throttle actuators are also taken into account. To assess the efficiency of the integrated longitudinal–lateral guidance algorithm, the full vehicle model is used in the CarSim–Simulink software. In order to have conditions closer to real applications, it is assumed that the yaw rate and the longitudinal and lateral accelerations of the vehicle are noisy, and the longitudinal and lateral velocities are predicted using the same signals. Obtained results for the critical collision avoidance manoeuvres confirm the effectiveness of the proposed planned trajectory and the good performance of the combined control method. In addition, the results indicate that the integrated control is robust against the variation of friction coefficient and unmodelled dynamics while maintaining the vehicle stability.

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Lane changing trajectory planning and tracking control for intelligent vehicle on curved road

Cited by 21 publications

References 23 publications

Research on Customer Marketing Acceptance for Future Automatic Driving—A Case Study in China City

Research on Customer Marketing Acceptance for Future Automatic Driving—A Case Study in China City

Lane‐changing trajectory planning method for automated vehicles under various road line‐types

Integrated longitudinal and lateral guidance of vehicles in critical high speed manoeuvres

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