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.


    Zugriff

    Zugriff über TIB


    Exportieren, teilen und zitieren



    Titel :

    Trajectory planning and optimisation method for intelligent vehicle lane changing emergently


    Beteiligte:
    Jiang, Haobin (Autor:in) / Shi, Kaijin (Autor:in) / Cai, Junyu (Autor:in) / Chen, Long (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    17.10.2018


    Format / Umfang :

    9 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Trajectory planning and optimisation method for intelligent vehicle lane changing emergently

    Jiang, Haobin / Shi, Kaijin / Cai, Junyu et al. | Wiley | 2018

    Freier Zugriff

    Intelligent vehicle autonomous lane changing trajectory planning method

    CHEN LINFENG / WAN YIDONG / WANG RONGJUN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Lane changing trajectory planning method for autonomous vehicle

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

    Freier Zugriff

    Intelligent vehicle lane changing trajectory planning method based on model predictive control

    QIN JIALE / ZHANG ZHAOJUN / LUO HONGJIE et al. | Europäisches Patentamt | 2025

    Freier Zugriff