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Trajectory Planning for Vehicle Lane Changing on Circular Road in Automated Highway System
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ren, Dianbo Lian, Dexu |
| Copyright Year | 2019 |
| Abstract | In this paper, we study the virtual trajectory planning method for lane changing of vehicle in automated highway system, derivate the trajectory model for lane changing on circular road by using odd-order polynomial constraints. Based on the trajectory model for lane changing on straight road, the motion for lane changing of vehicle on circular road can be decomposed into the linear centripetal motion and the circular motion around the instantaneous centre of the circle road. Assuming that the centripetal motion displacement and rotational angular displacement meet the odd-order polynomial constraints, from the restrictive conditions for lane changing, such as time requirements, position limitation and desired state of vehicle at start time and end time of the lane changing behavior, the mathematical model of virtual trajectory for lane changing is designed. Compared with the existing trajectory planning method for lane changing on circular road, the road section length constraint is increased in this paper, consequently the trajectory model for lane changing is more general. The simulation results verify the feasibility of trajectory planning method for lane changing proposed in this paper on circular road. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://iosrjournals.org/iosr-jeee/Papers/Vol14-Issue6/Series-1/F1406012537.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
