Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on autonomous vehicle technology mainly focus on avoiding obstacles; however, few studies have accounted for dynamic lane changing based on some certain assumptions, such as the lane-changing speed is constant or the terminal state is known in advance. In this study, a typical lane-changing scenario is developed with the consideration of preceding and lagging vehicles on the road. Based on the local trajectory generated by the global positioning system, a path planning model and a speed planning model are respectively established through the cubic polynomial interpolation. To guarantee the driving safety, passenger comfort and vehicle efficiency, a comprehensive trajectory optimization function is proposed according to the path planning model and speed planning model. In addition, a dynamic decoupling model is established to solve the problems of real-time application to provide viable solutions. The simulations and real vehicle validations are conducted, and the results highlight that the proposed method can generate a satisfactory lane-changing trajectory for automatic lane-changing actions.


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    Title :

    Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory


    Contributors:
    Liu, Yonggang (author) / Zhou, Bobo (author) / Wang, Xiao (author) / Li, Liang (author) / Cheng, Shuo (author) / Chen, Zheng (author) / Li, Guang (author) / Zhang, Lu (author)


    Publication date :

    2022-07-01


    Size :

    4602888 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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