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Autonomous Vehicles Lane-Changing Trajectory Planning Based on Hierarchical Decoupling
IEEE transactions on intelligent transportation systems (Print)Automatic lane-changing is a complex and common task for autonomous vehicle control. In this study, a hierarchical decoupled path and velocity planning model for lane changing is proposed to enhance driving safety, comfort, and traffic efficiency. First,
Xin-You Lin +4 more
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A dynamic lane-changing trajectory planning scheme for autonomous vehicles on structured road
2020 IEEE 9th International Power Electronics and Motion Control Conference (IPEMC2020-ECCE Asia), 2020Autonomous driving has the potential of revolutionizing the mode of trip for human society with improved transport safety and accessibility and reduced emissions. Trajectory planning plays a fundamental role in autonomous driving implementation.
Hanbing Jia, Lei Zhang, Zhen-Po Wang
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An Enabling Trajectory Planning Scheme for Lane Change Collision Avoidance on Highways
IEEE Transactions on Intelligent Vehicles, 2023This paper presents a hierarchical three-layer trajectory planning framework to realize real-time collision avoidance under complex driving conditions. This is mainly ascribed to the generation of a collision-free trajectory cluster based on the speed and the path re-planning.
Zhiqiang Zhang +5 more
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A Stochastic Approach for Modeling Lane-Change Trajectories
2011A signal-processing approach for modeling vehicle trajectory during lane changes while driving is discussed. Since individual driving habits are not a deterministic process, we develop a stochastic method to model them. The proposed model consists of two parts: a dynamic system represented by a hidden Markov model and a cognitive distance space ...
Yoshihiro Nishiwaki +3 more
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SVM Based Trajectory Predictions of Lane Changing Vehicles
2011 International Conference on Computational Intelligence and Communication Networks, 2011In dense traffic, a lane change maneuver is potentially dangerous and a driver's erroneous estimation of inter vehicle gaps may cause an accident. This signifies the necessity of forewarning the driver of the feasibility of lane change. This requires an early prediction of the trajectory of vehicles.
R. S. Tomar, S. Verma, G. S. Tomar
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Lane Change Trajectory Planning and Simulation for Intelligent Vehicle
Advanced Materials Research, 2013Aiming at the trajectory planning problem of intelligent vehicle during lane change process, 7 polynomials lane change model was used to control vehicle. Basic model of this model was established at first, and then lane change trajectories were solved by using restriction of movement state.
Chang Wang, Chu Qing Zheng
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Analysis on Lane Changing Trajectory for Different Style Drivers
2018 10th International Conference on Measuring Technology and Mechatronics Automation (ICMTMA), 2018Based on the essence of the behavior, the driver's lane changing behavior is analyzed, and the lane changing process is divided into the lane changing intent recognition phase and the lane changing phase according to the lane changing trajectory. For different drivers, the use of principal component analysis and K clustering methods for style division.
Zi Xie, Dan Yu, Jian Yang
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International Conference on Intelligent Transportation Systems, 2019
It is known that lane-changing maneuvers cause traffic disruption and result in shockwave formation and propagation. The introduction of connected automated vehicles (CAV) provides the opportunity to coordinate the vehicle movements during the lane ...
Gihyeob An, A. Talebpour
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It is known that lane-changing maneuvers cause traffic disruption and result in shockwave formation and propagation. The introduction of connected automated vehicles (CAV) provides the opportunity to coordinate the vehicle movements during the lane ...
Gihyeob An, A. Talebpour
semanticscholar +1 more source
Development and Validation of an Optimized Emergency Lane-Change Trajectory
SAE Technical Paper Series, 1998<div class="htmlview paragraph">In this paper, functional analysis is employed to develop an ideal path of a vehicle undergoing a limit lane-change maneuver. Inputs to the problem are the lane width, tire-road coefficient of friction and either vehicle velocity or total longitudinal lane-change distance. Vehicle velocity is assumed to be constant.
Nathaniel H. Sledge, Kurt M. Marshek
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Trajectory Planning and Control for Lane-Change of Autonomous Vehicle
2019 5th International Conference on Control, Automation and Robotics (ICCAR), 2019In recent years autonomous vehicle is becoming active research area. One of the most important feature of autonomous vehicle is lane-change without driver assistance and its important part of level 2 autonomy. Wrong maneuver can lead to serious accidents on highways.
Adeel Mehmood +3 more
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