dc.contributor.author | Liu, Y | |
dc.contributor.author | Zhou, B | |
dc.contributor.author | Wang, X | |
dc.contributor.author | Li, L | |
dc.contributor.author | Cheng, S | |
dc.contributor.author | Chen, Z | |
dc.contributor.author | Li, G | |
dc.contributor.author | Zhang, L | |
dc.date.accessioned | 2021-07-08T13:25:49Z | |
dc.date.available | 2021-07-08T13:25:49Z | |
dc.date.issued | 2021-01-01 | |
dc.identifier.issn | 1524-9050 | |
dc.identifier.uri | https://qmro.qmul.ac.uk/xmlui/handle/123456789/72958 | |
dc.description.abstract | Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on autonomous vehicle technology mainly focus on avoiding obstacles; however, few studies have accounted for dynamic lane changing based on some certain assumptions, such as the lane-changing speed is constant or the terminal state is known in advance. In this study, a typical lane-changing scenario is developed with the consideration of preceding and lagging vehicles on the road. Based on the local trajectory generated by the global positioning system, a path planning model and a speed planning model are respectively established through the cubic polynomial interpolation. To guarantee the driving safety, passenger comfort and vehicle efficiency, a comprehensive trajectory optimization function is proposed according to the path planning model and speed planning model. In addition, a dynamic decoupling model is established to solve the problems of real-time application to provide viable solutions. The simulations and real vehicle validations are conducted, and the results highlight that the proposed method can generate a satisfactory lane-changing trajectory for automatic lane-changing actions. | en_US |
dc.format.extent | 1 - 15 | |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | IEEE Transactions on Intelligent Transportation Systems | |
dc.title | Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory | en_US |
dc.type | Article | en_US |
dc.rights.holder | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |
dc.identifier.doi | 10.1109/tits.2021.3083541 | |
pubs.issue | 99 | en_US |
pubs.notes | Not known | en_US |
pubs.volume | PP | en_US |
rioxxterms.funder | Default funder | en_US |
rioxxterms.identifier.project | Default project | en_US |
qmul.funder | Hierarchical optimal energy management of electric vehicles::European Commission | en_US |