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.
Trajectory planning and optimisation method for intelligent vehicle lane changing emergently
IET Intelligent Transport Systems ; 12 , 10 ; 1336-1344
2018-10-17
9 pages
Article (Journal)
Electronic Resource
English
emergency lane-changing trajectory planning method , emergency lane-changing process , road vehicles , hp-adaptive pseudospectral method , tracking stage , trajectory optimisation method , initial stage , road steering experiment , trajectory control , intelligent vehicle lane changing , sigmoid functions , PreScan , path planning , optimisation , Matlab
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