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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >An Autonomous T-Intersection Driving Strategy Considering Oncoming Vehicles Based on Connected Vehicle Technology
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An Autonomous T-Intersection Driving Strategy Considering Oncoming Vehicles Based on Connected Vehicle Technology

机译：基于互联车辆技术的考虑迎面而来车辆的自主T型交叉口驾驶策略

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摘要

Autonomous driving strategies for intersection scenarios are challenging due to the varying traffic conditions of oncoming vehicles. Based on the connected vehicle technology, this article proposes an autonomous T-intersection driving strategy considering the oncoming vehicles for motion-planning and path following. A finite-state machine (FSM) is developed in the motion planner to decide the driving strategies considering the oncoming vehicles. Information pieces from the connected vehicle, specifically vehicle position and speed, are selected and effectively utilized to construct the temporal windows that manage the driving states transition of the FSM. Speed profiles in different driving states are modified for collision avoidance. Then, a path-following controller based on the back-stepping method is designed to track the planned path and speed simultaneously. The proposed strategy is validated by both simulation and experimental investigations. The results show the controlled vehicle can safely and quickly pass through the intersection using the proposed driving strategy that avoids possible collisions with the oncoming vehicles.
机译：由于迎面而来的车辆交通状况的变化，十字路口场景的自动驾驶策略具有挑战性。基于互联车辆技术，本文提出了一种考虑到即将到来的车辆的运动计划和路径跟踪的自动T型交叉口驾驶策略。运动计划器中开发了一种有限状态机（FSM），用于考虑即将到来的车辆来决定驾驶策略。选择来自所连接的车辆的信息，特别是车辆的位置和速度，并有效地利用它们来构造用于管理FSM行驶状态转换的时间窗口。修改了不同行驶状态下的速度曲线，以避免碰撞。然后，设计了一种基于反步法的路径跟踪控制器，以同时跟踪计划的路径和速度。仿真和实验研究均验证了所提出的策略。结果表明，采用建议的驾驶策略，受控车辆可以安全，快速地通过交叉路口，避免与迎面驶来的车辆发生碰撞。

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