Abstract Implementing reliable lane changes is crucial for reducing collisions and enhancing traffic safety. However, existing research lacks comprehensive investigation into the optimal path for maintaining driving quality, and little attention has been given to determining the appropriate lane changing time point. This paper addresses these gaps by presenting a novel hierarchical strategy. First, a synthesized safety distance for lane changing, which considers variable execution duration, is designed to reduce collision risk. Next, a hierarchy of optimization control strategies is proposed to obtain the optimal path. An upper neural network‐fuzzy control algorithm is established to identify an appropriate lane‐changing time point. Additionally, a lower neural network‐improved firefly algorithm is formulated to optimize the preliminary safety path based on multiple driving criteria. Furthermore, the dynamics characteristics of the vehicle are incorporated into the model predictive control algorithm to ensure the vehicle follows the optimal path. Finally, the feasibility of the proposed hierarchical control strategy is validated through typical lane‐changing scenarios conducted on the Carsim–Simulink platform.


    Access

    Download


    Export, share and cite



    Title :

    A hierarchical control strategy for reliable lane changes considering optimal path and lane‐changing time point


    Contributors:
    Jiayu Fan (author) / Yinxiao Zhan (author) / Jun Liang (author)


    Publication date :

    2024




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





    Intelligent vehicle optimal lane selection method considering lane changing risk

    LIU YONGTAO / QIAO JIE / CHEN YISONG et al. | European Patent Office | 2023

    Free access


    Lane changing device and lane changing control method

    SHI TIANLIANG / WEN YANZHONG / SHI ZUTIAN et al. | European Patent Office | 2021

    Free access

    LANE CHANGING SYSTEM AND LANE CHANGING METHOD

    WU PO-FU / CHEN YUAN-CHUN / LI KANG et al. | European Patent Office | 2020

    Free access