Aiming at the trajectory planning problem of intelligent vehicle during lane change process, 7 polynomials lane change model was used to control vehicle. Basic model of this model was established at first, and then lane change trajectories were solved by using restriction of movement state. At last, the commonly form of lane change trajectories were obtained. Using real road duration time of lane change, lane change trajectories were simulated with MATLAB. The results shows that this model was suitable for lane change trajectories planning in different speed and it can be used for intelligent vehicle controlling.
Lane Change Trajectory Planning and Simulation for Intelligent Vehicle
Advanced Materials Research ; 671-674 ; 2843-2846
2013-03-11
4 pages
Article (Journal)
Electronic Resource
English
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