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首页> 外文期刊>IEEE Transactions on Intelligent Transportation Systems >Longitudinal and Lateral Control for Automated Yielding Maneuvers
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Longitudinal and Lateral Control for Automated Yielding Maneuvers

机译：自动屈服操纵的纵向和横向控制

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摘要

Automated driving is predicted to enhance traffic safety, transport efficiency, and driver comfort. To extend the capability of current advanced driver assistance systems, and eventually realize fully automated driving, the intelligent vehicle system must have the ability to plan different maneuvers while adapting to the surrounding traffic environment. This paper presents an algorithm for longitudinal and lateral trajectory planning for automated driving maneuvers where the vehicle does not have right of way, i.e., yielding maneuvers. Such maneuvers include, e.g., lane change, roundabout entry, and intersection crossing. In the proposed approach, the traffic environment which the vehicle must traverse is incorporated as constraints on its longitudinal and lateral positions. The trajectory planning problem can thereby be formulated as two loosely coupled low-complexity model predictive control problems for longitudinal and lateral motion. Simulation results demonstrate the ability of the proposed trajectory planning algorithm to generate smooth collision-free maneuvers which are appropriate for various traffic situations.
机译：预计自动驾驶将提高交通安全性，运输效率和驾驶员舒适度。为了扩展当前先进的驾驶员辅助系统的功能并最终实现全自动驾驶，智能车辆系统必须具有规划不同机动性的能力，同时适应周围的交通环境。本文提出了一种用于自动驾驶操纵的纵向和横向轨迹规划的算法，其中车辆没有通行权，即屈服操纵。这样的动作包括例如车道变更，回旋处进入和交叉路口。在所提出的方法中，将车辆必须横越的交通环境纳入其纵向和横向位置的约束。轨迹规划问题因此可以表述为两个松散耦合的低复杂度模型的纵向和横向运动的预测控制问题。仿真结果证明了所提出的轨迹规划算法能够生成适用于各种交通情况的平滑无碰撞机动。

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