By considering mandatory lane-changing as a collision avoidance measure,this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario.Different from t...By considering mandatory lane-changing as a collision avoidance measure,this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario.Different from the traditional algorithm in which lane-change decision making and trajectory planning are separated,they are here coupled in a proposed algorithm and the related parameters are dynamically adjusted in the whole process.In addition to lane-change collision avoidance feasibility analysis,lanechange time instance and duration time are obtained by solving the constrained convex quadratic optimization programme.By taking lane-change time instance and duration time as inputs,the algorithm then proceeded to propose a kinematic model-based highorder polynomial lane change trajectory.By giving the simulation result compassion with the related algorithm,it is proved that the proposed algorithm has a good robustness and high efficiency.展开更多
Drivers are not far-sighted when they execute lane-changing manipulation.To address this issue,this study proposes a rule to improve vehicles'lane-changing decisions with accurate information of surrounding vehicl...Drivers are not far-sighted when they execute lane-changing manipulation.To address this issue,this study proposes a rule to improve vehicles'lane-changing decisions with accurate information of surrounding vehicles(e.g.time headway)-More specifically,connected and autonomous vehicles(CAVs)change lanes in advance if they find severer flow reducing in the lanes,while CAVs should maintain the car-following state if the variations of traffc flow in all lanes have a similar trend.To ilustrate the idea,this study frst calibrates two classic car-following models and a lane-changing model,and then conducts numerical simulations to illustrate the short-sighted decision of drivers.The study incorporates the idea into a lane-changing decision rule by changing the lane-changing model's pa-rameter,and conducts numerical tests to evaluate the effectiveness of the lane-changing decision rule in a multi-lane highway with a bottleneck.The results of this study indicate that the new lane-changing decision rule can substantially improve the throughput of the traffic flow,especially when the inflow exceeds the remaining capacity of the road.The lane-changing rule and results can bring insights into the control of CAVs,as well as the driver assistance system in connected vehicles.展开更多
文摘By considering mandatory lane-changing as a collision avoidance measure,this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario.Different from the traditional algorithm in which lane-change decision making and trajectory planning are separated,they are here coupled in a proposed algorithm and the related parameters are dynamically adjusted in the whole process.In addition to lane-change collision avoidance feasibility analysis,lanechange time instance and duration time are obtained by solving the constrained convex quadratic optimization programme.By taking lane-change time instance and duration time as inputs,the algorithm then proceeded to propose a kinematic model-based highorder polynomial lane change trajectory.By giving the simulation result compassion with the related algorithm,it is proved that the proposed algorithm has a good robustness and high efficiency.
基金This work was supported by the National Natural Science Foundation of China(Grants No.72271248,71801227,72201149)the Nation Key Research and Develop-ment Program of China(Grant No.2020YFB1600400)+1 种基金the Higher-end Think-Tank Project of Central South University(Grant No.2022znzk07)the China Postdoctoral Science Foundation(Grant No.2022M711818).
文摘Drivers are not far-sighted when they execute lane-changing manipulation.To address this issue,this study proposes a rule to improve vehicles'lane-changing decisions with accurate information of surrounding vehicles(e.g.time headway)-More specifically,connected and autonomous vehicles(CAVs)change lanes in advance if they find severer flow reducing in the lanes,while CAVs should maintain the car-following state if the variations of traffc flow in all lanes have a similar trend.To ilustrate the idea,this study frst calibrates two classic car-following models and a lane-changing model,and then conducts numerical simulations to illustrate the short-sighted decision of drivers.The study incorporates the idea into a lane-changing decision rule by changing the lane-changing model's pa-rameter,and conducts numerical tests to evaluate the effectiveness of the lane-changing decision rule in a multi-lane highway with a bottleneck.The results of this study indicate that the new lane-changing decision rule can substantially improve the throughput of the traffic flow,especially when the inflow exceeds the remaining capacity of the road.The lane-changing rule and results can bring insights into the control of CAVs,as well as the driver assistance system in connected vehicles.
