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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Pseudospectral Strategy for Lane Change Maneuver of Automated Vehicles on the Highway


    Contributors:
    Liu, Kai (author) / Gong, Jianwei (author) / Lu, Chao (author) / Zhang, Yu (author) / Chen, Huiyan (author)

    Conference:

    18th COTA International Conference of Transportation Professionals ; 2018 ; Beijing, China


    Published in:

    CICTP 2018 ; 134-145


    Publication date :

    2018-07-02




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Vehicle lane change maneuver in automated highway systems

    Chee, Wonshik / Tomizuka, Masayoshi | TIBKAT | 1994


    An Efficient Lane Change Maneuver for Platoons of Vehicles in an Automated Highway System

    Sun, X. / Horowitz, R. / Tan, C.-W. et al. | British Library Conference Proceedings | 2003


    Maneuver Planning and Learning: a Lane Selection Approach for Highly Automated Vehicles in Highway Scenarios.

    Menendez-Romero, Cristina / Winkler, Franz / Dornhege, Christian et al. | IEEE | 2020


    Modeling of Double Lane Change Maneuver of Vehicles

    Arefnezhad, Sadegh / Ghaffari, Ali / Khodayari, Alireza et al. | Online Contents | 2018


    Modeling of Double Lane Change Maneuver of Vehicles

    Arefnezhad, Sadegh / Ghaffari, Ali / Khodayari, Alireza et al. | Springer Verlag | 2018