In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane chan...In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane change is proposed based on linear offset and sine function to balance driver comfort and vehicle dynamics. The trajectory curvature of the proposed model is continuous without mutation, and the zero-based curvature at the starting and end points during lane change assures the motion direction of end points in parallel with the lane line. The field experiment are designed to collect the vehicle-driver integration data, such as steering angle, brake pedal angel and accelerator pedal angel. The correction Correlation analysis of lane-changing maneuver and influencing variables is conducted to obtain the significant variables that can be used to calibrate and test the proposed model. The results demonstrate that vehicle velocity and Y-axis acceleration have significant effects on the lane-changing maneuver, so that the model recalibrated by the samples of different velocity ranges and Y-axis accelerations has better fitted performance compared with the model calibrated by the sample trajectory. In addition, the proposed model presents a decreasing tendency of the lane change trajectory fitted MAE with the increase of time span of calibrating samples at the starting stage.展开更多
The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting la...The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.61473028)the National Basic Research Program of China("973" Program)(Grant No.2012CB725403)the National High Technology Research and Development Program of China("863" Program)(Grant No.2015AA124103)
文摘In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane change is proposed based on linear offset and sine function to balance driver comfort and vehicle dynamics. The trajectory curvature of the proposed model is continuous without mutation, and the zero-based curvature at the starting and end points during lane change assures the motion direction of end points in parallel with the lane line. The field experiment are designed to collect the vehicle-driver integration data, such as steering angle, brake pedal angel and accelerator pedal angel. The correction Correlation analysis of lane-changing maneuver and influencing variables is conducted to obtain the significant variables that can be used to calibrate and test the proposed model. The results demonstrate that vehicle velocity and Y-axis acceleration have significant effects on the lane-changing maneuver, so that the model recalibrated by the samples of different velocity ranges and Y-axis accelerations has better fitted performance compared with the model calibrated by the sample trajectory. In addition, the proposed model presents a decreasing tendency of the lane change trajectory fitted MAE with the increase of time span of calibrating samples at the starting stage.
基金supported by the National Natural Science Foundation of China (Grant No. 10772152)the Natural Science Foundation of Shandong Province of China (Grant No. ZR2010FM008)
文摘The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.
