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A new safe lane-change trajectory model and collision avoidance control method for automatic driving vehicles.
- Source :
-
Expert Systems with Applications . Mar2020, Vol. 141, pN.PAG-N.PAG. 1p. - Publication Year :
- 2020
-
Abstract
- • A new safety lane change trajectory model for autonomous vehicles. • Minimum safety distances in different steering frequency domain. • Vehicle collision avoidance control strategies are proposed. • Typical lane change scenarios for intelligent vehicles are designed. Lane change maneuvers, are important contributors to road traffic accidents on highway. In this paper, we propose a new safe lane change trajectory model and collision avoidance control method for Society of Automotive Engineers (SAE)-level 2 automatic driving vehicles. First, a Gaussian distribution is used to describe the new trajectory model that uses pure steering and combined braking. According to regional and progressive states, a new safe lane change meaning is defined. Second, we design a new four-level automatic driving mode and an effective decision mechanism that considers safety and ergonomics. Moreover, a new trajectory tracking controller combined with a decision mechanism was designed using feedback linearization, verified using typical lane-change scenarios. Finally, based on a physical simulation platform, PreScan, the hardware-in-the-loop simulation result demonstrate the feasibility and effectiveness of our method. This paper provides a valuable reference on an expert and intelligent system methodology for automatic driving vehicles, which will be helpful for improving highway traffic safety and efficiency. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 09574174
- Volume :
- 141
- Database :
- Academic Search Index
- Journal :
- Expert Systems with Applications
- Publication Type :
- Academic Journal
- Accession number :
- 139277675
- Full Text :
- https://doi.org/10.1016/j.eswa.2019.112953