Towards a Decision-Making Algorithm for Automatic Lane Change Manoeuvre Considering Traffic Dynamics

Samiee, Sajjad; Azadi, Shahram; Kazemi, Reza; Eichberger, Arno

doi:10.7307/ptt.v28i2.1811

Cited by 30 publications

(30 citation statements)

References 24 publications

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“…The gap acceptance criterion for the on-ramp CAV is that its current and predicted inter-vehicle time gaps to its future direct predecessor and follower in the whole prediction horizon T p are larger than a certain time gap, depending on the on-ramp vehicle's location on the acceleration lane. When the on-ramp CAV's lane-changing initiation time is given, its lateral motion is modeled with a lateral trajectory equation [28], which is elaborated in Appendix A. The operational layer controller updates its commands with a fixed frequency 1/t.…”

Section: Cooperative Merging Control Architecturementioning

confidence: 99%

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A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles

Chen

Arem

Alkim

et al. 2021

IEEE Trans. Intell. Transport. Syst.

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Gap selection and dynamic speed profiles of interacting vehicles at on-ramps affect the safety and efficiency of highway merging sections. This paper puts forward a hierarchical control approach for Connected Automated Vehicles (CAVs) to achieve efficient and safe merging operations. A tactical layer controller employs a second-order car-following model with a cooperative merging mode to represent a cooperative merging process and generates an optimal vehicle merging sequence and time instants when on-ramp CAVs start to adapt their speeds and positions to prepare merging into the target gaps respectively. An operational layer controller is designed based on Model Predictive Control (MPC). It uses a third-order vehicle dynamics model and optimizes desired accelerations for CAVs and the time instants when the on-ramp CAVs initiate the lane-changing executions respectively. Both the tactical layer controller and operational layer controller derive their control commands by minimizing an objective function for different time horizons. The objective function penalizes deviations of CAVs' inter-vehicle gaps to their desired values, relative speeds to their direct predecessors, and actual or desired accelerations, subject to constraints on velocities, actual or desired accelerations, and inter-vehicle gaps. The performance of the proposed hierarchical control framework and a benchmark on-ramp merging method using a first-in-firstout rule to determine the merging sequence is demonstrated under 135 scenarios with different initial conditions, desired time gap settings, and numbers of on-ramp vehicles. The experimental results show the superiority of the hierarchical control approach.

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Section: Cooperative Merging Control Architecturementioning

confidence: 99%

“…When the on-ramp vehicle starts to change lane, i.e. ξ r (t) = 1, its lateral path during the lane changing process is designed to follow a polynomial equation [28], as shown in (21) and (22) in Appendix A.…”

Section: B Operational Layer Controller Regulating Vehicular Trajectmentioning

confidence: 99%

A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles

Chen

Arem

Alkim

et al. 2021

IEEE Trans. Intell. Transport. Syst.

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“…The implemented lane change behavior in Vissim is based on the lane change algorithm described in [39] and [40]. Based on this research, the trajectory equation for the lane change can be derived in the displacement of the vehicle from the center of the lane in terms of time.…”

Section: F Lane Change Behaviormentioning

confidence: 99%

Stress Testing Method for Scenario-Based Testing of Automated Driving Systems

Nalic

Eichberger

et al. 2020

IEEE Access

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“…where (x s rr , y s rr ) and (x D lf , y D lf ) can be determined using equations (16) and (25), respectively.…”

Section: Trajectory Planningmentioning

confidence: 99%

“…This strategy provided safe lane change manoeuvre considering some safety constraints, which were based on kinematics and dynamics of the passenger car and environment conditions. 25 Then, Shojaei et al developed this methodology for a constant speed articulated vehicle for single and double-lane-change manoeuvre considering the constant speed surrounding vehicles in manoeuvre. The obtained results demonstrated that the method could be implemented as a safe and feasible manoeuvre for the constant speed articulated vehicle in real traffic conditions.…”

Section: Introductionmentioning

confidence: 99%

A new automated motion planning system of heavy accelerating articulated vehicle in a real road traffic scenario

Shojaei

Hanzaki

Azadi

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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The main purpose of this study is to develop a novel motion planning for an articulated vehicle (AV) in real traffic situations. This motion planning generates collision-free and feasible trajectories based on kinematic and dynamic analyses of the AV concerning its surrounding vehicles. For this purpose, the collision-free trajectories are simulated in the presence of other vehicles, when the AV is conducting a lane change manoeuvre. A new method is utilised to derive the feasible trajectories by taking into account 3-D surface of the slip angle, roll angle, and lateral acceleration of the AV. This paper presents a new approach to generate the trajectory of an accelerating AV considering the surrounding vehicles in manoeuvre, which are either accelerating or decelerating. The optimal trajectory is then obtained based on the longitudinal acceleration of the AV and the time duration of the lane change manoeuvre, aimed at trajectory tracking control. Therefore, a 3-DOF dynamic model of the AV, including the yaw-rate, lateral velocity of the tractor and articulation angle, is developed. The tyres dynamic is simulated using non-linear Dug-off model. Furthermore, an innovative trajectory tracking control system is proposed concerning a sliding mode control. The developed dynamic model of the AV is verified by the Truck-Sim model. Results show that the collision-free and feasible trajectories can be generated based on the newly presented method of trajectory planning. The outcomes of the trajectory tracking control as the final part of the motion planning system indicate that the heavy articulated vehicle can be guided according to the new automated motion planning.

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Towards a Decision-Making Algorithm for Automatic Lane Change Manoeuvre Considering Traffic Dynamics

Abstract: This paper proposes a novel algorithm for decision-making on autonomous

Cited by 30 publications

References 24 publications

A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles

A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles

Stress Testing Method for Scenario-Based Testing of Automated Driving Systems

A new automated motion planning system of heavy accelerating articulated vehicle in a real road traffic scenario

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