Citation

Liu Y, Shi C. Transp. Saf. Environ. 2023; 5(1): tdac041.

Copyright

(Copyright © 2023, Oxford University Press)

DOI

10.1093/tse/tdac041

PMID

unavailable

Abstract

By considering mandatory lane-changing as a collision avoidance measure, this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario. Different from the traditional algorithm in which lane-change decision making and trajectory planning are separated, they are here coupled in a proposed algorithm and the related parameters are dynamically adjusted in the whole process. In addition to lane-change collision avoidance feasibility analysis, lane-change time instance and duration time are obtained by solving the constrained convex quadratic optimization programme. By taking lane-change time instance and duration time as inputs, the algorithm then proceeded to propose a kinematic model-based high-order polynomial lane change trajectory. By giving the simulation result compassion with the related algorithm, it is proved that the proposed algorithm has a good robustness and high efficiency.

Language: en