A dynamic trajectory planning method for lane-changing maneuver of connected and automated vehicles

Liu Xiao, Jun Liang, Junwei Fu

2021Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering23 citationsDOI

Abstract

This paper describes a dynamic trajectory planning method for lane-changing maneuver of connected and automated vehicles (CAVs). The proposed dynamic lane-changing trajectory planning (DLTP) model adopts vehicle-to-vehicle (V2V) communication to generate an automated lane-changing maneuver with avoiding potential collisions and rollovers during the lane-changing process. The novelty of this method is that the DLTP model combines a detailed velocity planning strategy and considers more complete driving environment information. Besides, a lane-changing safety monitoring algorithm and a lane-changing starting-point determination algorithm are presented to guarantee the lane-changing safety, efficiency and stability of automated vehicles. Moreover, a trajectory-tracking controller based on model predictive control (MPC) is introduced to make the automated vehicle travel along the reference trajectory. The field traffic data from NGSIM are selected as the target dataset to simulate a real-world lane-changing driving environment. The simulations are performed in CarSim-Simulink platform and the experimental results show that the proposed method is effective for lane-changing maneuver.

Topics & Concepts

CarSimTrajectoryProcess (computing)Computer scienceVehicle dynamicsController (irrigation)Stability (learning theory)SimulationPoint (geometry)Control theory (sociology)EngineeringControl (management)Artificial intelligenceAutomotive engineeringAgronomyOperating systemMachine learningBiologyAstronomyPhysicsMathematicsGeometryTraffic control and managementAutonomous Vehicle Technology and SafetyVehicle Dynamics and Control Systems