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, a parametric trajectory model is established based on the vehicle kinematic model, and the initial trajectory is solved quickly by the Sequential Quadratic Programming algorithm; in addition, the path optimization function is designed to optimize the trajectory curvature, and the distance-based velocity optimization method is used to improve the trajectory transverse, longitudinal acceleration, and jerk. To ensure the accuracy of path tracking, a comprehensive online trajectory optimization function is proposed according to tracking error fitting and vehicle reachability domain. The validation results demonstrate that the optimized path transverse velocity, acceleration, and jerk change curve are smoother, which meets the safety and comfort requirements of trajectory planning. Finally, the feasibility of the proposed trajectory planning is verified in a prototype vehicle real-world test.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Vehicles Lane-Changing Trajectory Planning Based on Hierarchical Decoupling


    Beteiligte:
    Lin, Xinyou (Autor:in) / Wang, Tianfeng (Autor:in) / Zeng, Songrong (Autor:in) / Chen, Zhiyong (Autor:in) / Xie, Liping (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.12.2024


    Format / Umfang :

    13589036 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Lane changing trajectory planning method for autonomous vehicle

    WANG JIAN / HAN HAIYANG / PEI ZHONGHUI | Europäisches Patentamt | 2023

    Freier Zugriff

    Intelligent vehicle autonomous lane changing trajectory planning method

    CHEN LINFENG / WAN YIDONG / WANG RONGJUN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Lane changing for autonomous vehicles

    NAGASAKA NAOKI / PROKHOROV DANIL V | Europäisches Patentamt | 2016

    Freier Zugriff