Lane Change Maneuvers for Automated Vehicles
Lane Change Maneuvers for Automated Vehicles
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DOI：
10.1109/tits.2016.2597966
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发表时间：
2017-05
影响因子：
8.5
通讯作者：
J. Nilsson;M. Brännström;E. Coelingh;J. Fredriksson
中科院分区：
文献类型：
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作者：
J. Nilsson;M. Brännström;E. Coelingh;J. Fredriksson
通过考虑车道变换操纵主要是一个纵向运动规划问题，本文提出了一种车道变换操纵算法与务实的方法来确定车辆间的交通间隙和时间的情况下，执行机动。所提出的方法选择一个合适的车辆间的交通间隙和时间的情况下，通过简单地估计是否有可能存在的纵向轨迹，允许自动驾驶汽车安全地执行的机动来执行变道机动。然后，车道变换操纵算法继续求解两个松散耦合的凸二次规划，以获得纵向轨迹和相应的横向轨迹，该纵向轨迹用于在期望的时刻将自动驾驶车辆定位在所选择的车辆间交通间隙中。仿真结果表明，所提出的方法能够选择一个合适的车辆间的交通间隙和时间实例初始化的横向运动的车道变换机动在各种交通场景。沃尔沃V60在测试跑道上进行自动变道机动的实验结果表明，变道机动算法的实时能力，以产生安全和平滑的轨迹。
By considering a lane change maneuver as primarily a longitudinal motion planning problem, this paper presents a lane change maneuver algorithm with a pragmatic approach to determine an inter-vehicle traffic gap and time instance to perform the maneuver. The proposed approach selects an appropriate inter-vehicle traffic gap and time instance to perform the lane change maneuver by simply estimating whether there might exist a longitudinal trajectory that allows the automated vehicle to safely perform the maneuver. The lane change maneuver algorithm then proceeds to solve two loosely coupled convex quadratic programs to obtain the longitudinal trajectory to position the automated vehicle in the selected inter-vehicle traffic gap at the desired time instance and the corresponding lateral trajectory. Simulation results demonstrate the capability of the proposed approach to select an appropriate inter-vehicle traffic gap and time instance to initialize the lateral motion of a lane change maneuver in various traffic scenarios. The real-time ability of the lane change maneuver algorithm to generate safe and smooth trajectories is shown by experimental results of a Volvo V60 performing automated lane change maneuvers on a test track.