Trajectory planning and optimisation method for intelligent vehicle lane changing emergently

作     者：Jiang, Haobin Shi, Kaijin Cai, Junyu Chen, Long 

作者机构：Jiangsu Univ Sch Automobile & Traff Engn Zhenjiang 212013 Peoples R China Jiangsu Univ Automot Engn Res Inst Zhenjiang 212013 Peoples R China 

出 版 物：《IET INTELLIGENT TRANSPORT SYSTEMS》 (IET Intel. Transport Syst.)

年 卷 期：2018年第12卷第10期

页      面：1336-1344页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0823[工学-交通运输工程] 

基　　金：Natural Science Fund [U1564201  51675235] 

主　　题：trajectory control optimisation road vehicles path planning emergency lane-changing trajectory planning method hp-adaptive pseudospectral method emergency lane-changing process initial stage tracking stage intelligent vehicle lane changing trajectory optimisation method road steering experiment sigmoid functions PreScan Matlab 

摘      要：The real time and adaptability of emergency lane-changing trajectory planning method is critical to the safe operation of the intelligent vehicle. This study presents the design and implementation of the trajectory planning and optimisation method of intelligent vehicle lane changing emergently based on hp-adaptive pseudospectral method. The method divides the emergency lane-changing process into the initial stage and tracking stage for trajectory planning based on road steering experiment and sigmoid functions. An hp-adaptive pseudospectral method is introduced to connect and optimise the lane-changing trajectory. PreScan and Matlab are used to simulate the planning of emergency lane-changing trajectory under six conditions, and the simulation results verify the effectiveness and real time of the planning and optimisation method. In comparison with trajectory planning methods based on polynomial functions, this method is characterised by shorter response time and safety distance and has better adaptability under different conditions.