Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

作者：Bai, Haijian; Shen, Jianfeng^*; Wei, Liyang; Feng, Zhongxiang

来源：Journal of Advanced Transportation, 2017, 2017: UNSP 8132769.

DOI：10.1155/2017/8132769

• Automated vehicles
• Cooperative strategy
• Following vehicle
• Polynomial methods
• Simulation model
• Trajectory Planning
• Vehicle model
• Vehicle to vehicles

Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper aims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC). Based on the characteristics of accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lanechanging model under different degrees of collaboration with the following vehicle in the target lane by considering vehicle kinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round vehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships between the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated lane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC, we can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and comfort control.

• 出版日期2017
• 单位合肥工业大学