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      Trajectory planning and optimisation method for intelligent vehicle lane changing emergently

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          Abstract

          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.

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          Most cited references 28

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          Study on Self-Tuning Tyre Friction Control for Developing Main-Servo Loop Integrated Chassis Control System

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            A review of pseudospectral optimal control: From theory to flight

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                Author and article information

                Contributors
                Journal
                IET-ITS
                IET Intelligent Transport Systems
                IET Intell. Transp. Syst.
                The Institution of Engineering and Technology
                1751-956X
                1751-9578
                7 September 2018
                17 October 2018
                December 2018
                : 12
                : 10
                : 1336-1344
                Affiliations
                [1 ] School of Automobile and Traffic Engineering, Jiangsu University , Zhenjiang 212013, People's Republic of China
                [2 ] Automotive Engineering Research Institute, Jiangsu University , Zhenjiang 212013, People's Republic of China
                Article
                IET-ITS.2018.5224 ITS.2018.5224.R1
                10.1049/iet-its.2018.5224

                This is an open access article published by the IET under the Creative Commons Attribution-NonCommercial-NoDerivs License ( http://creativecommons.org/licenses/by-nc-nd/3.0/)

                Page count
                Pages: 0
                Product
                Funding
                Funded by: National Natural Science Foundation of China
                Award ID: U1564201
                Funded by: National Natural Science Foundation of China
                Award ID: 51675235
                Categories
                Research Article

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