Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper aims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC). Based on the characteristics of accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lane-changing model under different degrees of collaboration with the following vehicle in the target lane by considering vehicle kinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round vehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships between the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated lane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC, we can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and comfort control.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration


    Beteiligte:
    Haijian Bai (Autor:in) / Jianfeng Shen (Autor:in) / Liyang Wei (Autor:in) / Zhongxiang Feng (Autor:in)


    Erscheinungsdatum :

    2017




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Lane changing trajectory planning method for autonomous vehicle

    WANG JIAN / HAN HAIYANG / PEI ZHONGHUI | Europäisches Patentamt | 2023

    Freier Zugriff

    Lane changing trajectory planning method considering vehicle dynamics

    WEI HANBING / YAO ZHIHAO / WANG HAIJIANG | Europäisches Patentamt | 2021

    Freier Zugriff

    Trajectory Planning for Connected and Automated Vehicles: Cruising, Lane Changing, and Platooning

    Zhao, Guangchen / Masoud, Neda / Zhu, Qi et al. | SAE Technical Papers | 2021


    Vehicle lane changing trajectory planning method, device, equipment and medium

    CUI RANRAN | Europäisches Patentamt | 2023

    Freier Zugriff

    Optimal Trajectory Planning for Connected and Automated Vehicles in Lane-Free Traffic With Vehicle Nudging

    Yanumula, Venkata Karteek / Typaldos, Panagiotis / Troullinos, Dimitrios et al. | IEEE | 2023