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mandatory lane-changing decision making and planning in emergency situations

Transportation Safety and Environment 2023年第1期5卷 49-57页

作者： Yang Liu Congling Shi China Academy of Safety Science and Technology Beijing Key Laboratory of Metro Fire and Passenger Transportation SafetyBeijing 100012China.

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 *** 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 *** addition to lane-change collision avoidance feasibility analysis,lanechange time instance and duration time are obtained by solving the constrained convex quadratic optimization *** taking lane-change time instance and duration time as inputs,the algorithm then proceeded to propose a kinematic model-based highorder polynomial lane change *** giving the simulation result compassion with the related algorithm,it is proved that the proposed algorithm has a good robustness and high efficiency.

关键词： mandatory lane-changing collision avoidance decision making convex optimization

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mandatory lane-changing modelling based on a game theoretic approach in traditional and connected environments

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Transportation Safety and Environment 2023年第1期5卷 1-7页

作者： Guozhu Cheng Qiuyue Sun Yiming Bie School of Traffic and Transportation Northeast Forestry UniversityHarbin 150040HeilongjiangChina College of Transportation Jilin UniversityChangchun 130022JilinChina

The paper proposes a model of mandatory lane-changing behaviour based on a non-cooperative game in a traditional environment and analyses its applicability in a connected *** order to solve the problem of traffic safety and traffic congestion caused by mandatory lane-changing on urban roads,this paper applies the non-cooperative game theory to describe the game behaviour of the two parties,the lane-changing vehicle and the vehicle behind the target lane,in the connected and traditional environments respectively,and constructs the model considering the safety gain,speed gain and lane-changing gain to obtain a game model and the Nash equilibrium *** is calibrated and tested using NGSIM data,and the results of the study show that themodel has a good performance for the decision behaviour of lane-changing vehicles and lag vehicles for mandatory lane-changing behaviour on urban roads.

关键词： Traffic engineering mandatory lane-changing connected vehicle quantal response equilibrium NGSIM

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Modelling lane-changing execution behaviour in a connected environment:A grouped random parameters with heterogeneity-in-means approach

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Communications in Transportation Research 2021年第1期1卷 61-74页

作者： Yasir Ali Zuduo Zheng Md Mazharul Haque School of Civil&Environment Engineering Faculty of EngineeringQueensland University of TechnologyBrisbane4000Australia School of Civil Engineering Faculty of EngineeringArchitectureand Information TechnologyThe University of QueenslandBrisbane4000Australia

lane-changing is performed either to follow the route to a planned destination(i.e.,mandatory lane-changing)or to achieve better driving conditions(i.e.,discretionary lane-changing).A connected environment is expected to assist during lane-changing manoeuvres,but it is not known well how driving aids in a connected environment assist lane-changing *** such,this study investigates the impact of a connected environment on lanechanging execution time during mandatory and discretionary lane-changing *** this end,this study designed an advanced driving simulator experiment where 78 drivers performed these manoeuvres on a simulated motorway in three randomised driving *** conditions were baseline(without driving aids),a fully functioning connected environment with a perfect supply of driving aids,and an impaired connected environment with delayed driving *** lane-changing execution time has been modelled by a random parameters hazard-based duration modelling approach,which accounts for the panel nature of data and captures the unobserved *** suggest that,compared to the baseline condition(i.e.,a non-connected environment),most of the drivers in the connected environment take more time to complete their lane-changing manoeuvres,indicating drivers’safer lane-changing execution behaviour in the connected *** communication delay driving condition has been found to have more deteriorating effects on mandatory lanechanging manoeuvres than discretionary lane-changing *** study concludes that(i)the connected environment increases safety margin during both lane-changing manoeuvres,and(ii)a higher magnitude of safety margin is observed during mandatory lane-changing manoeuvres whereby drivers have a higher need for assistance.

关键词： lane-changing mandatory lane-changing Discretionary lane-changing Connected environment Advanced driving simulator Random parameters

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