XJIPC OpenIR  > 多语种信息技术研究室
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
Source PublicationEXPERT SYSTEMS WITH APPLICATIONS
ISSN0957-4174
Volume42Issue:14Pages:5932-5946
AbstractLane 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.
KeywordTrajectory Planning Tracking Control Backstepping Method Advanced Driver Assistance Systems Intelligent Vehicles Cooperative Vehicle Infrastructure System
DOI10.1016/j.eswa.2015.03.022
Indexed BySCI
WOS IDWOS:000355028500012
Citation statistics
Cited Times:37[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.xjipc.cas.cn/handle/365002/4287
Collection多语种信息技术研究室
Corresponding AuthorZhang, RH
AffiliationS 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
Recommended Citation
GB/T 7714
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.
Files in This Item:
File Name/Size DocType Version Access License
Trajectory planning (2910KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[You, F (You, Feng)]'s Articles
[Zhang, RH (Zhang, Ronghui)]'s Articles
[Lie, G (Lie, Guo)]'s Articles
Baidu academic
Similar articles in Baidu academic
[You, F (You, Feng)]'s Articles
[Zhang, RH (Zhang, Ronghui)]'s Articles
[Lie, G (Lie, Guo)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[You, F (You, Feng)]'s Articles
[Zhang, RH (Zhang, Ronghui)]'s Articles
[Lie, G (Lie, Guo)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.