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首页> 外文期刊>Intelligent Transportation Systems, IEEE Transactions on >Lane Change Maneuvers for Automated Vehicles
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Lane Change Maneuvers for Automated Vehicles

机译：自动化车辆的换道操作

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摘要

By considering a lane change maneuver as primarily a longitudinal motion planning problem, this paper presents a lane change maneuver algorithm with a pragmatic approach to determine an inter-vehicle traffic gap and time instance to perform the maneuver. The proposed approach selects an appropriate inter-vehicle traffic gap and time instance to perform the lane change maneuver by simply estimating whether there might exist a longitudinal trajectory that allows the automated vehicle to safely perform the maneuver. The lane change maneuver algorithm then proceeds to solve two loosely coupled convex quadratic programs to obtain the longitudinal trajectory to position the automated vehicle in the selected inter-vehicle traffic gap at the desired time instance and the corresponding lateral trajectory. Simulation results demonstrate the capability of the proposed approach to select an appropriate inter-vehicle traffic gap and time instance to initialize the lateral motion of a lane change maneuver in various traffic scenarios. The real-time ability of the lane change maneuver algorithm to generate safe and smooth trajectories is shown by experimental results of a Volvo V60 performing automated lane change maneuvers on a test track.
机译：通过考虑换道操纵主要是纵向运动计划问题，本文提出了一种变道操纵算法，采用务实的方法来确定车辆之间的交通间隙和执行该操纵的时间实例。所提出的方法通过简单地估计是否可能存在允许自动车辆安全地执行操纵的纵向轨迹来选择适当的车辆间交通间隙和时间实例以执行车道改变操纵。然后，换道操纵算法继续求解两个松散耦合的凸二次方程序，以获得纵向轨迹，以将自动车辆在期望的时间点和相应的横向轨迹上定位在选定的车辆之间的交通间隙中。仿真结果表明，该方法能够选择适当的车辆间交通间隙和时间实例，以初始化各种交通场景下的换道操纵的横向运动。沃尔沃V60在测试轨道上执行自动换道演算的实验结果表明，换道演算算法实时生成安全和平滑轨迹的能力。

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