Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Wu, Xiaodong; Qiao, Bangjun; Su, Chengrui

doi:10.3390/app10051626

Cited by 9 publications

(3 citation statements)

References 20 publications

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“…Wu et al, in their paper, suggest a Gray Prediction Model estimate gaps and find the correct instance of time for lane switching. Continuous path planning is safe and efficient for lane switching [34]. Overtaking is an essential element in motion control because, if not done correctly, it can lead to accidents.…”

Section: Motion Controlmentioning

confidence: 99%

A Review on Autonomous Vehicles: Progress, Methods and Challenges

et al. 2022

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Vehicular technology has recently gained increasing popularity, and autonomous driving is a hot topic. To achieve safe and reliable intelligent transportation systems, accurate positioning technologies need to be built to factor in the different types of uncertainties such as pedestrian behavior, random objects, and types of roads and their settings. In this work, we look into the other domains and technologies required to build an autonomous vehicle and conduct a relevant literature analysis. In this work, we look into the current state of research and development in environment detection, pedestrian detection, path planning, motion control, and vehicle cybersecurity for autonomous vehicles. We aim to study the different proposed technologies and compare their approaches. For a car to become fully autonomous, these technologies need to be accurate enough to gain public trust and show immense accuracy in their approach to solving these problems. Public trust and perception of auto vehicles are also explored in this paper. By discussing the opportunities as well as the obstacles of autonomous driving technology, we aim to shed light on future possibilities.

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Section: Motion Controlmentioning

confidence: 99%

A Review on Autonomous Vehicles: Progress, Methods and Challenges

et al. 2022

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“…Li et al [ 31 ] proposed risk-aware lane-changing decision making for autonomous vehicles on normal roads. Wu et al [ 32 ] studied the lane-changing decision making of autonomous vehicles on a straight and level road. An et al [ 33 ] explored the lane-changing decision-making process of autonomous vehicles on a straight road under stable steering.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Lane-Changing Decision-Making Behavior of Autonomous Vehicles Based on Molecular Dynamics

Zhang²,

Song³

et al. 2022

Sensors

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Along with the rapid development of autonomous driving technology, autonomous vehicles are showing a trend of practicality and popularity. Autonomous vehicles perceive environmental information through sensors to provide a basis for the decision making of vehicles. Based on this, this paper investigates the lane-changing decision-making behavior of autonomous vehicles. First, the similarity between autonomous vehicles and moving molecules is sought based on a system-similarity analysis. The microscopic lane-changing behavior of vehicles is analyzed by the molecular-dynamics theory. Based on the objective quantification of the lane-changing intention, the interaction potential is further introduced to establish the molecular-dynamics lane-changing model. Second, the relationship between the lane-changing initial time and lane-changing completed time, and the dynamic influencing factors of the lane changing, were systematically analyzed to explore the influence of the microscopic lane-changing behavior on the macroscopic traffic flow. Finally, the SL2015 lane-changing model was compared with the molecular-dynamics lane-changing model using the SUMO platform. SUMO is an open-source and multimodal traffic experimental platform that can realize and evaluate traffic research. The results show that the speed fluctuation of autonomous vehicles under the molecular-dynamics lane-changing model was reduced by 15.45%, and the number of passed vehicles was increased by 5.93%, on average, which means that it has better safety, stability, and efficiency. The molecular-dynamics lane-changing model of autonomous vehicles takes into account the dynamic factors in the traffic scene, and it reasonably shows the characteristics of the lane-changing behavior for autonomous vehicles.

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“…Zheng [12] found that the scholars who studied lane-changing maneuvers mostly focused on lane-changing conditions and believed that is one of the necessary elements for the realization of lane changing. Wu et al [13] employed time-variant safety margins to ensure a safe maneuver during trajectory planning. Most of the studies on lane-changing conditions are based on gap theory, which states that when the critical safety distance meets the requirements, an accident will not occur.…”

Section: Introductionmentioning

confidence: 99%

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

et al. 2021

Applied Sciences

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Connected and automated vehicles (CAVs) platoons have been widely researched because of their efficiency advantages. However, most studies mainly focus on the stability control of platoon and there is a lack of in-depth consideration of platoon lane changing. In order to make up for this vacancy, this study focused on the dynamic gap in the platoon lane changing process. First, an intra-platoon potential field of vehicles in the platoon was established by combining the repulsive force under vehicle safety and the gravity inside the platoon, which can effectively characterize the risk distribution around vehicles. Second, the platoon lane changing process was designed and critical distances of platoon vehicles under different conflict situations were analyzed. Based on this, this study proposed a critical distance model of platoon lane changing. Furthermore, we also found that the critical distances for platoon lane changing were within an interval with upper and lower bounds, which was different from the minimum distance of non-platoon vehicles. Finally, experiments were conducted and the results showed that the proposed model could effectively represent the relationship between the distance between vehicles in the platoon and the motion state of the surrounding vehicles. Moreover, the proposed method could also be applied to the lane-changing maneuver of a self-organizing platoon at a strategic level in a CAVs system.

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Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Cited by 9 publications

References 20 publications

A Review on Autonomous Vehicles: Progress, Methods and Challenges

A Review on Autonomous Vehicles: Progress, Methods and Challenges

Analysis of Lane-Changing Decision-Making Behavior of Autonomous Vehicles Based on Molecular Dynamics

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

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