Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments
Autonomous driving technology in urban environments is a very important avenue of research. Notably, the question of how to plan safe lane-changing trajectories is a challenge in multi-vehicle traffic environments. In our research, three kinds of polynomial lane changing mathematical models were ana...
| Published in: | Applied Sciences |
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| Main Authors: | , , , |
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
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| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/19/9662 |
| _version_ | 1850756929549238272 |
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| author | Senlin Zhang Guohong Deng Echuan Yang Jian Ou |
| author_facet | Senlin Zhang Guohong Deng Echuan Yang Jian Ou |
| author_sort | Senlin Zhang |
| collection | DOAJ |
| container_title | Applied Sciences |
| description | Autonomous driving technology in urban environments is a very important avenue of research. Notably, the question of how to plan safe lane-changing trajectories is a challenge in multi-vehicle traffic environments. In our research, three kinds of polynomial lane changing mathematical models were analyzed and compared. It was found that the fifth polynomial is the most suitable for lane changing trajectories; it is defined as a generalized lane-changing trajectory cluster, whereby the minimum lane change time is determined by the vehicle lateral stability threshold. Here, a collision avoidance algorithm is proposed to eliminate unsafe trajectories. Finally, the TOPSIS algorithm is used to solve the multi-objective optimization problem, and the optimal lane-changing expected trajectory is obtained from the safe trajectory cluster. The simulation results showed improvements in lane-changing efficiency of 6.67% and no collisions in the overtaking condition. In general, the proposed method of identifying the optimal lane changing trajectory can achieve safe, efficient and stable lane changing. |
| format | Article |
| id | doaj-art-5d96d28f00a34ff9ab3acf6432dd0ee5 |
| institution | Directory of Open Access Journals |
| issn | 2076-3417 |
| language | English |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| spelling | doaj-art-5d96d28f00a34ff9ab3acf6432dd0ee52025-08-19T22:35:14ZengMDPI AGApplied Sciences2076-34172022-09-011219966210.3390/app12199662Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic EnvironmentsSenlin Zhang0Guohong Deng1Echuan Yang2Jian Ou3Key Laboratory of Advanced Manufacturing Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing 401320, ChinaKey Laboratory of Advanced Manufacturing Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing 401320, ChinaSchool of Mechanical Engineering, Chongqing University of Technology, Chongqing 401320, ChinaKey Laboratory of Advanced Manufacturing Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing 401320, ChinaAutonomous driving technology in urban environments is a very important avenue of research. Notably, the question of how to plan safe lane-changing trajectories is a challenge in multi-vehicle traffic environments. In our research, three kinds of polynomial lane changing mathematical models were analyzed and compared. It was found that the fifth polynomial is the most suitable for lane changing trajectories; it is defined as a generalized lane-changing trajectory cluster, whereby the minimum lane change time is determined by the vehicle lateral stability threshold. Here, a collision avoidance algorithm is proposed to eliminate unsafe trajectories. Finally, the TOPSIS algorithm is used to solve the multi-objective optimization problem, and the optimal lane-changing expected trajectory is obtained from the safe trajectory cluster. The simulation results showed improvements in lane-changing efficiency of 6.67% and no collisions in the overtaking condition. In general, the proposed method of identifying the optimal lane changing trajectory can achieve safe, efficient and stable lane changing.https://www.mdpi.com/2076-3417/12/19/9662autonomous vehicletrajectory planningcollision avoidance algorithmtopsis algorithmoptimal lane change trajectory |
| spellingShingle | Senlin Zhang Guohong Deng Echuan Yang Jian Ou Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments autonomous vehicle trajectory planning collision avoidance algorithm topsis algorithm optimal lane change trajectory |
| title | Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments |
| title_full | Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments |
| title_fullStr | Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments |
| title_full_unstemmed | Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments |
| title_short | Optimal Vehicle Lane Change Trajectory Planning in Multi-Vehicle Traffic Environments |
| title_sort | optimal vehicle lane change trajectory planning in multi vehicle traffic environments |
| topic | autonomous vehicle trajectory planning collision avoidance algorithm topsis algorithm optimal lane change trajectory |
| url | https://www.mdpi.com/2076-3417/12/19/9662 |
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