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In this paper, a virtual trajectory planning method for vehicle lane changing in automated highway system is studied, and a trajectory model for lane changing on variable curvature road is established with odd-order polynomial constraints. Assuming that the starting lane and the target lane have the same instantaneous center, the motion for lane changing of vehicle on the curved road can be decomposed into a linear centripetal motion and a circular motion around the instantaneous centre of the curved road. If the centripetal motion displacement and the rotational angular displacement meet the requirement of odd-order polynomial constraints, the boundary condition of the above two kinds of motion may be obtained from the constraints, such as time, location, and desired state of vehicle at the start and end of the lane changing behavior. By applying the boundary conditions, the polynomial coefficient is deduced, and the mathematical model of virtual trajectory for lane changing can be designed based on the polynomial models of centripetal displacement and angular displacement. Compared with the existing trajectory planning method for lane changing on curved road, the curvature change has been taken into consideration, and the trajectory model for lane changing has been generalized. Simulation results verify the feasibility of the trajectory planning method proposed in this paper for lane changing on a curved road with variable curvature.
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Keywords:
- lane changing /
- trajectory planning /
- variable curvature road /
- odd-order polynomial
[1] Mohammad A, Alicia D, Max K 2011 Lecture Notes in Comp. Sci. 7 589
[2] Rahman M, Chowdhury M, Xie Y C, He Y M 2013 IEEE Trans. Intell. Trans. Syst. 14 1942
[3] Xu G Q, Liu L, Ou Y S, Song Z J 2012 IEEE Trans. Intell. Trans. Syst. 13 1138
[4] Rajamani R, Tan H S, Law B K, Zhang W B 2000 IEEE Trans. Contr. Syst. Tec. 8 695
[5] Tan H S, Guldner J, Chen C, Patwardhan S 2000 Contr. Eng. Pract. 8 1033
[6] Ho M L, Chan P T, Rad A B 2009 J. Advan. Trans. 43 47
[7] Yang Z G, Qi Z J, Huang Y 2013 J ournal of Chongqing Jiaotong University(Natural Science) 32 520 (in Chinese)[杨志刚, 戚志锦, 黄燕2013 重庆交通大学学报(自然科学版) 32 520]
[8] Chen J J, Zhao P, Mei T, Liang H W 2013 Proceedings of the IEEE International Conference on Vehicular Electronics and Safety Dongguan, China, July 28-30, 2013 p17
[9] Li W, Wang J, Duan J M 2012 Computer Engineering and Applications 48 42 (in Chinese) [李玮, 王晶, 段建民 2012 计算机工程与应用48 42]
[10] He Z C, Sun W B, Zhang L C, Xu F F, Zhuang L J 2013 Acta Phys. Sin. 62 168901 (in Chinese) [何兆成, 孙文博, 张力成, 许菲菲, 庄立坚2013 物理学报62 168901]
[11] Yang X B 2009 Acta Phys. Sin. 58 836 (in Chinese) [杨小宝2009 物理学报58 836]
[12] Kang R, Yang K 2013 Acta Phys. Sin. 62 238901 (in Chinese) [康瑞, 杨凯2013 物理学报62 238901]
[13] Zhao H T, Mao H Y 2013 Acta Phys. Sin. 62 060501 (in Chinese) [赵韩涛, 毛宏燕2013 物理学报62 060501]
[14] Zheng L, Ma S F, Zhong S Q 2011 Chin. Phys. B 20 088701
[15] Hatipoglu C, Ozguner U, Redmill K 2003 IEEE Trans. Intell. Trans. Syst. 4 13
[16] Ren D B, Zhang J Y, Zhang J M, Cui S M 2011 Sci. China Series E 54 630
[17] Guo L, Huang X H, Ge P S 2013 Journal of Jilin University (Engineering and Technology Edition) 43 323 (in Chinese)[郭烈, 黄晓慧, 葛平淑2013 吉林大学学报(工学版) 43 323]
[18] Rajamani R 2006 Vehicle Dynamics and Control(New York: Springer) p43-46
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[1] Mohammad A, Alicia D, Max K 2011 Lecture Notes in Comp. Sci. 7 589
[2] Rahman M, Chowdhury M, Xie Y C, He Y M 2013 IEEE Trans. Intell. Trans. Syst. 14 1942
[3] Xu G Q, Liu L, Ou Y S, Song Z J 2012 IEEE Trans. Intell. Trans. Syst. 13 1138
[4] Rajamani R, Tan H S, Law B K, Zhang W B 2000 IEEE Trans. Contr. Syst. Tec. 8 695
[5] Tan H S, Guldner J, Chen C, Patwardhan S 2000 Contr. Eng. Pract. 8 1033
[6] Ho M L, Chan P T, Rad A B 2009 J. Advan. Trans. 43 47
[7] Yang Z G, Qi Z J, Huang Y 2013 J ournal of Chongqing Jiaotong University(Natural Science) 32 520 (in Chinese)[杨志刚, 戚志锦, 黄燕2013 重庆交通大学学报(自然科学版) 32 520]
[8] Chen J J, Zhao P, Mei T, Liang H W 2013 Proceedings of the IEEE International Conference on Vehicular Electronics and Safety Dongguan, China, July 28-30, 2013 p17
[9] Li W, Wang J, Duan J M 2012 Computer Engineering and Applications 48 42 (in Chinese) [李玮, 王晶, 段建民 2012 计算机工程与应用48 42]
[10] He Z C, Sun W B, Zhang L C, Xu F F, Zhuang L J 2013 Acta Phys. Sin. 62 168901 (in Chinese) [何兆成, 孙文博, 张力成, 许菲菲, 庄立坚2013 物理学报62 168901]
[11] Yang X B 2009 Acta Phys. Sin. 58 836 (in Chinese) [杨小宝2009 物理学报58 836]
[12] Kang R, Yang K 2013 Acta Phys. Sin. 62 238901 (in Chinese) [康瑞, 杨凯2013 物理学报62 238901]
[13] Zhao H T, Mao H Y 2013 Acta Phys. Sin. 62 060501 (in Chinese) [赵韩涛, 毛宏燕2013 物理学报62 060501]
[14] Zheng L, Ma S F, Zhong S Q 2011 Chin. Phys. B 20 088701
[15] Hatipoglu C, Ozguner U, Redmill K 2003 IEEE Trans. Intell. Trans. Syst. 4 13
[16] Ren D B, Zhang J Y, Zhang J M, Cui S M 2011 Sci. China Series E 54 630
[17] Guo L, Huang X H, Ge P S 2013 Journal of Jilin University (Engineering and Technology Edition) 43 323 (in Chinese)[郭烈, 黄晓慧, 葛平淑2013 吉林大学学报(工学版) 43 323]
[18] Rajamani R 2006 Vehicle Dynamics and Control(New York: Springer) p43-46
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