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

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Haijian Bai ◽  
Jianfeng Shen ◽  
Liyang Wei ◽  
Zhongxiang Feng
Keyword(s):  
Boundary Conditions ◽  
Simulation Model ◽  
Trajectory Planning ◽  
Polynomial Method ◽  
Vehicle Model ◽  
Automated Vehicles ◽  
Lane Changing ◽  
Cooperative Strategies ◽  
Vehicle To Vehicle ◽  
Changing Process

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 lane-changing 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.

scholarly journals Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

2021 ◽  
Vol 11 (16) ◽  
pp. 7287
Author(s):  
Renfei Wu ◽  
Linheng Li ◽  
Wenqi Lu ◽  
Yikang Rui ◽  
Bin Ran
Keyword(s):  
Stability Control ◽  
Critical Distance ◽  
Upper And Lower Bounds ◽  
Automated Vehicles ◽  
Lane Changing ◽  
Conflict Situations ◽  
Proposed Model ◽  
Distance Model ◽  
The Stability ◽  
Changing Process

Connected and automated vehicles (CAVs) platoons have been widely researched because of their efficiency advantages. However, most studies mainly focus on the stability control of platoon and there is a lack of in-depth consideration of platoon lane changing. In order to make up for this vacancy, this study focused on the dynamic gap in the platoon lane changing process. First, an intra-platoon potential field of vehicles in the platoon was established by combining the repulsive force under vehicle safety and the gravity inside the platoon, which can effectively characterize the risk distribution around vehicles. Second, the platoon lane changing process was designed and critical distances of platoon vehicles under different conflict situations were analyzed. Based on this, this study proposed a critical distance model of platoon lane changing. Furthermore, we also found that the critical distances for platoon lane changing were within an interval with upper and lower bounds, which was different from the minimum distance of non-platoon vehicles. Finally, experiments were conducted and the results showed that the proposed model could effectively represent the relationship between the distance between vehicles in the platoon and the motion state of the surrounding vehicles. Moreover, the proposed method could also be applied to the lane-changing maneuver of a self-organizing platoon at a strategic level in a CAVs system.

A dynamic lane-changing trajectory planning model for automated vehicles

2018 ◽  
Vol 95 ◽  
pp. 228-247 ◽  
Author(s):  
Da Yang ◽  
Shiyu Zheng ◽  
Cheng Wen ◽  
Peter J. Jin ◽  
Bin Ran
Keyword(s):  
Trajectory Planning ◽  
Planning Model ◽  
Automated Vehicles ◽  
Lane Changing

scholarly journals Lane‐changing trajectory planning method for automated vehicles under various road line‐types

2020 ◽  
Vol 2 (1) ◽  
pp. 14-23 ◽  
Author(s):  
Ying Wang ◽  
Chong Wei ◽  
Erjian Liu ◽  
Shurong Li
Keyword(s):  
Trajectory Planning ◽  
Planning Method ◽  
Automated Vehicles ◽  
Lane Changing

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

2021 ◽  
pp. 095440702098271
Author(s):  
Xiao Liu ◽  
Jun Liang ◽  
Junwei Fu
Keyword(s):  
Trajectory Planning ◽  
Planning Method ◽  
Reference Trajectory ◽  
Automated Vehicles ◽  
Lane Changing ◽  
Planning Strategy ◽  
V2v Communication ◽  
Starting Point ◽  
Trajectory Tracking Controller ◽  
Dynamic Trajectory

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.

scholarly journals Traffic Flow Management of Autonomous Vehicles Using Platooning and Collision Avoidance Strategies

Electronics ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 1221
Author(s):  
Anum Mushtaq ◽  
Irfan ul Haq ◽  
Wajih un Nabi ◽  
Asifullah Khan ◽  
Omair Shafiq
Keyword(s):  
Traffic Flow ◽  
Collision Avoidance ◽  
Autonomous Vehicles ◽  
Flow Management ◽  
V2v Communication ◽  
Cooperative Strategies ◽  
Vehicle To Vehicle ◽  
Traffic Flow Management ◽  
Vehicle To Infrastructure ◽  
Formation And Evolution

Connected Autonomous Vehicles (AVs) promise innovative solutions for traffic flow management, especially for congestion mitigation. Vehicle-to-Vehicle (V2V) communication depends on wireless technology where vehicles can communicate with each other about obstacles and make cooperative strategies to avoid these obstacles. Vehicle-to-Infrastructure (V2I) also helps vehicles to make use of infrastructural components to navigate through different paths. This paper proposes an approach based on swarm intelligence for the formation and evolution of platoons to maintain traffic flow during congestion and collision avoidance practices using V2V and V2I communications. In this paper, we present a two level approach to improve traffic flow of AVs. At the first level, we reduce the congestion by forming platoons and study how platooning helps vehicles deal with congestion or obstacles in uncertain situations. We performed experiments based on different challenging scenarios during the platoon’s formation and evolution. At the second level, we incorporate a collision avoidance mechanism using V2V and V2I infrastructures. We used SUMO, Omnet++ with veins for simulations. The results show significant improvement in performance in maintaining traffic flow.

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