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Trajectory planning and yaw rate tracking control for lane changing of intelligent vehicle on curved road

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Science China(Technological Sciences) 2011年第3期54卷 630-642页

作者： REN DianBo ZHANG JiYe ZHANG JingMing CUI ShengMin School of Automotive Engineering Harbin Institute of Technology at Weihai Weihai 264209 China State Key Laboratory of Traction Power Southwest Jiaotong University Chengdu 610031 China

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.

关键词： intelligent vehicle lane changing trajectory planning yaw rate-tracking

Reference Modelof Desired Yaw Anglefor Automated lane changing Behavior of Vehicle

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Journal of Harbin Institute of Technology(New Series) 2016年第1期23卷 23-33页

作者： Dianbo Ren Guanzhe Zhang Hangzhe Wu School of Automotive Engineering Harbin Institute of Technology( Weihai)

In this paper,it studies the problem of trajectory planning and tracking for lane changing behavior of vehicle in automatic highway systems. Based on the model of yaw angle acceleration with positive and negative trapezoid constraint,by analyzing the variation laws of yaw motion of vehicle during a lane changing maneuver,the reference model of desired yaw angle and yaw rate for lane changing is generated. According to the yaw angle model,the vertical and horizontal coordinates of trajectory for vehicle lane change are calculated. Assuming that the road curvature is a constant,the difference and associations between two scenarios are analyzed,the lane changing maneuvers occurred on curve road and straight road,respectively. On this basis,it deduces the calculation method of desired yaw angle for lane changing on circular road. Simulation result shows that,it is different from traditional lateral acceleration planning method with the trapezoid constraint,by applying the trapezoidal yaw acceleration reference model proposed in this paper, the resulting expected yaw angular acceleration is continuous,and the step tracking for steering angle is not needed to implement. Due to the desired yaw model is direct designed based on the variation laws of raw movement of vehicle during a lane changing maneuver, rather than indirectly calculated from the trajectory model for lane changing, the calculation steps are simplified.

关键词： intelligent transportation systems lane changing yaw angle model trajectory planning

Development of Vehicle lane changing Model in Approaching the U-Turn Facility Road Segment

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Journal of Traffic and Transportation Engineering 2017年第6期5卷 308-315页

作者： Mohd Shafie Nemmang Rahman Rahman Faculty of Civil and Environmental Engineering Universiti Tun Hussein Onn Malaysia 86400 Batu Pahat dohor Malaysia Department of lnfrastrueture and Geomatic Engineering Faculty of Civil and Environmental Engineering Universiti Tun HusseinOnn Malaysia 86400 Batu Pahat Johor Malaysia

Accidents are in rising mode and became the main problem all over the world especially in Malaysia as the reasons including the condition of the road, driver＇s reaction and the road environment. Actually, those condition also factors to execute the lane changing which experienced by all drivers such as in U-turn road segment. In approaching U-turn segment, drivers needed to make a decision whenever any disruption in front of them such as merging vehicle because they have their own perspective and desire. For that purpose, this research is focusing on the reaction of the driver in approaching the U-turn facility road segment especially in speed （V）, reaction time （RT） and distance where from those parameters and their relationships, the statistical model was developed and used in estimating the safe distances to execute the lane changing from the merging vehicle. The data were taken from the field and driving simulator to come out with the raw data. The field data were from video recording that has been used to simulate the driving simulator. Therefore, through the relationship between the RT, speed （V） and distance of the subject vehicle to the merging vehicle, the statistical model has been developed with the equation D.4MVUT = （13.448 ＋ 1.410 RT- 0.075 V）.

关键词： lane changing merging U-turn.

The effect of moving bottlenecks on a two-lane traffic flow

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Chinese Physics B 2013年第10期22卷 638-645页

作者：方远陈建忠彭志远 College of Automation Northwestern Polytechnical University

In this paper, we study the effect of moving bottlenecks on traffic flow. The full velocity difference （FVD） model is extended to the traffic flow on a two-lane highway, and new lane changing rule is proposed to reproduce the vehicular lane changing behavior. Using this model, we derive the fundamental current-density diagrams for the traffic flow with the effect of moving bottleneck. Moreover, typical time-space diagram for a two-lane highway shows the formation and dissipation of a moving bottleneck. Results demonstrate that the effect of moving bottleneck enlarges with the increase of traffic density, but the effect can be reduced by increasing the maximum velocity of heavy truck. The effects of multiple moving bottlenecks under different conditions are investigated. The effect becomes more remarkable when the coupling effect of multiple moving bottlenecks occurs.

关键词： traffic flow moving bottleneck lane changing coupling effect

Improved STCA Model for Multi-lane Using Driving Guidance under CVIS

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Computer Modeling in Engineering & Sciences 2022年第10期133卷 67-92页

作者： Xun Li Wenzhe Ma Zhengfan Zhao Muhammad Bashir Wenjie Wang Xiaohua Wang School of Electronics and Information Xi’an Polytechnic UniversityXi’an710048China The Fifth Institute of Electronics Ministry of Industry and Information TechnologyGuangzhou440100China

In a multi-lane area,the increasing randomness of lane changes contributes to traffic insecurity and local traffic flow instability.A study on safe lane shifting activity that focuses on threat assessment under real-time knowledge is necessary to enhance smooth vehicle *** paper proposed amore comprehensive lane changing guidance rule to investigate the status of surrounding vehicles to accommodate future vehicle-on-road collaborative environments based on these parameters 1)lane change demand and 2)treat assessment *** collaborative relationships between vehicles are analyzed using a cellular automata model based on their location,velocity,and *** analyze and examine the relationship between the number of lanes and traffic flow when the road capacity is heavily mined via intelligent lane *** analysis can further provide theoretical guidance for the selection of road expansion *** proposed STCA-L is compared based on the average speed,average flow,lane changing frequency,spatial and temporal pattern of STCA,STCA-I,and STCA-S,and STCA-M under different vehicle *** numerical simulation results show that our proposed STCA-L provides themost flexible lane changing guidance in the multi-lanes ***,the simulated results show that the exponential growth of physical space cannot provide the corresponding increase in the average flow of vehicles.

关键词： Traffic engineering microscopic traffic flow model cooperative vehicle infrastructure system(CVIS) cellular automaton model lane changing

Accelerated testing for automated vehicles safety evaluation in cut-in scenarios based on importance sampling,genetic algorithm and simulation applications

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Journal of Intelligent and Connected Vehicles 2018年第1期1卷 28-38页

作者： Yiming Xu Yajie Zou Jian Sun Tongji University ShanghaiChina

Purpose–It would take billions of miles’field road testing to demonstrate that the safety of automated vehicle is statistically significantly higher than the safety of human driving because that the accident of vehicle is rare ***/methodology/approach–This paper proposes an accelerated testing method for automated vehicles safety evaluation based on improved importance sampling(IS)*** the typical cut-in scenario as example,the proposed method extracts the critical variables of the ***,the distributions of critical variables are statistically *** genetic algorithm is used to calculate the optimal IS parameters by solving an optimization *** the error of distribution fitting,the result is modified so that it can accurately reveal the safety benefits of automated vehicles in the real ***–Based on the naturalistic driving data in Shanghai,the proposed method is validated by *** result shows that compared with the existing methods,the proposed method improves the test efficiency by 35 per cent,and the accuracy of accelerated test result is increased by 23 per ***/value–This paper has three ***,the genetic algorithm is used to calculate IS parameters,which improves the efficiency of ***,the result of test is modified by the error correction parameter,which improves the accuracy of test ***,typical high-risk cut-in scenarios in China are analyzed,and the proposed method is validated by simulation.

关键词： Genetic algorithm Simulation Automated vehicles Importance sampling lane changing Safety evaluation High-risk scenarios