In this study, we propose an adaptive path planning model and tracking control method for collision avoidance and lane-changing manoeuvres on highways in rainy weather. Considering the human-vehicle-road interaction, we developed an adaptive lane change system that consists of an intelligent trajectory planning and tracking controller. Gaussian distribution was introduced to evaluate the impact of rain on the pavement characteristics and deduce adaptive lane-change trajectories. Subsequently, a score-based decision mechanism and multilevel autonomous driving mode that considers safety, comfort, and efficiency were proposed. A tracking controller was designed using a linearised model predictive control method. Finally, using simulated scenarios, the feasibility and effectiveness of the proposed method were demonstrated. The results obtained herein are a valuable resource that can be used to develop an intelligent lane change system for autonomous vehicles and can help improve highway traffic safety and efficiency in adverse weather conditions.


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    Title :

    Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather


    Contributors:
    Tao Peng (author) / Li-li Su (author) / Zhi-wei Guan (author) / Hai-jing Hou (author) / Jun-kai Li (author) / Xing-liang Liu (author) / Yi-ke Tong (author)


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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