This paper presents a pseudospectral strategy for lane change maneuvers of automated vehicles on the highway. This strategy can optimize the longitudinal and lateral control simultaneously to account for the coupled vehicle dynamics while adapting to the dynamical traffic environment. First, the modeling of vehicle dynamics and lane change process are developed. Accordingly, a finite state machine with different lane change behaviors is designed. Then, the dynamical vehicle-traffic systems are evaluated and categorized with a state occupancy grid model to consider the impact of interactions with traffic systems. Finally, the control of the automated vehicles for lane change maneuvers are formulated as multi-stage optimal control problems (OCPs), and solved with the hp-adaptive pseudospectral strategy. The proposed approach is validated through a simulation result.
A Pseudospectral Strategy for Lane Change Maneuver of Automated Vehicles on the Highway
18th COTA International Conference of Transportation Professionals ; 2018 ; Beijing, China
CICTP 2018 ; 134-145
02.07.2018
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Vehicle lane change maneuver in automated highway systems
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