NDLI: Dynamic motion planner with trajectory optimisation for automated highway lane-changing driving

Content Provider	IET Digital Library
Author	Liu, Xiao Liang, Jun Zhang, Hua
Abstract	This study proposes a dynamic motion planner with trajectory optimisation for automated highway lane-changing driving. Owing to the connected and automated vehicles (CAVs) technology that the real-time traffic information can be obtained, alternative trajectories can be generated to satisfy the vehicle kinematic constraints and avoid many types of potential collisions. An optimal control theory is adopted to select an optimal lane-changing path from the finite path set, and the appropriate acceleration and speed for the execution path are also determined. In order to avoid unnecessary motion re-planning process, this study puts forward a collision-avoidance monitoring algorithm to reduce the time consumption costs of the motion planner. Moreover, an online planning framework based on ‘decision-execution’ is explored. Applying this timeline framework can not only help to evaluate the dynamic planner's online performance, but also reduce the deviation between the online calculation and the actual execution caused by the time consumption. The simulations are performed in PreScan-Simulink platform and the experimental results show that the presented dynamic planner can complete the lane-changing manoeuvre safely and effectively in a high-speed environment.
Starting Page	2133
Ending Page	2140
Page Count	8
ISSN	1751956X
Volume Number	14
e-ISSN	17519578
Issue Number	Issue 14, Dec (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2020.0465
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/14/14
Journal	IET Intelligent Transport Systems
Publisher Date	2021-01-07
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Alternative Trajectories Automated Highway Lane-changing Driving Collision Avoidance Driver Information System Dynamic Motion Planner Execution Path Finite Path Forward A Collision-avoidance Monitoring Algorithm Lane-changing Manoeuvre Mobile Robots Online Planning Framework Optimal Control Optimal Control Theory Optimal Lane-changing Path Optimisation Path Planning Presented Dynamic Planner Real-time Traffic Information Road Traffic Road Traffic Control Road Traffic System Control Road Vehicle Spatial Variables Control Time Consumption Cost Traffic Engineering Computing Trajectory Optimisation Unnecessary Motion Re-planning Process Vehicle Dynamics Vehicle Kinematic Constraint Vehicle Mechanics
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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