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Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system
You, F (You, Feng); Zhang, RH (Zhang, Ronghui); Lie, G (Lie, Guo); Wang, HW (Wang, Haiwei); Wen, HY (Wen, Huiyin); Xu, JM (Xu, Jianmin); Zhang, RH
2015
发表期刊EXPERT SYSTEMS WITH APPLICATIONS
ISSN0957-4174
卷号42期号:14页码:5932-5946
摘要Lane change maneuver is one of the most conventional behaviors in driving. Unsafe lane change maneuvers are key factor for traffic accidents and traffic congestion. For drivers' safety, comfort and convenience, advanced driver assistance systems (ADAS) are presented. The main problem discussed in this paper is the development of an autonomous lane change system. The system can be extended applied in intelligent vehicles in future. It solves two crucial issues - trajectory planning and trajectory tracking. Polynomial method was adopted for describing the trajectory planning issue. Movement of a host vehicle was abstracted into time functions. Moreover, collision detection was mapped into a parameter space by adopting infinite dynamic circles. The second issue was described by backstepping principle. According to the Lyapunov function, a tracking controller with global convergence property was verified. Both the simulations and the experimental results demonstrate the feasibility and effectiveness of the designed method for autonomous lane change.
关键词Trajectory Planning Tracking Control Backstepping Method Advanced Driver Assistance Systems Intelligent Vehicles Cooperative Vehicle Infrastructure System
DOI10.1016/j.eswa.2015.03.022
收录类别SCI
WOS记录号WOS:000355028500012
引用统计
文献类型期刊论文
条目标识符http://ir.xjipc.cas.cn/handle/365002/4287
专题多语种信息技术研究室
通讯作者Zhang, RH
作者单位S China Univ Technol, Sch Civil Engn & Transportat, Guangzhou 510640, Guangdong, Peoples R China;Chinese Acad Sci, Xinjiang Tech Inst Phys & Chem, Urumqi 830011, Xinjiang, Peoples R China;Dalian Univ Technol, Sch Automot Engn, Dalian 116024, Liaoning, Peoples R China
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You, F ,Zhang, RH ,Lie, G ,et al. Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system[J]. EXPERT SYSTEMS WITH APPLICATIONS,2015,42(14):5932-5946.
APA You, F .,Zhang, RH .,Lie, G .,Wang, HW .,Wen, HY .,...&Zhang, RH.(2015).Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system.EXPERT SYSTEMS WITH APPLICATIONS,42(14),5932-5946.
MLA You, F ,et al."Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system".EXPERT SYSTEMS WITH APPLICATIONS 42.14(2015):5932-5946.
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