A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-04-25
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Lane-changing and overtaking are conventional maneuvers on roads, and the reference trajectory is one of the prerequisites to execute these maneuvers.
This study proposes a universal trajectory planning method for automated lane-changing and overtaking maneuvers, in which the trajectory is regarded as the combination of a path and its traffic state profiles.
The two-dimensional path is represented by a suitable curve to connect the initial position with final position of the ego vehicle.
Based on the planned path, its traffic state profiles are generated by solving a nonlinear mathematical optimization model.
Moreover, the study discretizes the time horizon into several time intervals and determines the parameters to obtain the continuous and smooth profiles, which guarantees the safety and comfort of the ego vehicle.
Finally, a series of simulation experiments are performed in the MATLAB platform and the results show the feasibility and effectiveness of the proposed universal trajectory planning method.
American Psychological Association (APA)
Wang, Ying& Wei, Chong. 2020. A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1192987
Modern Language Association (MLA)
Wang, Ying& Wei, Chong. A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers. Mathematical Problems in Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1192987
American Medical Association (AMA)
Wang, Ying& Wei, Chong. A Universal Trajectory Planning Method for Automated Lane-Changing and Overtaking Maneuvers. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1192987
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1192987