Trajectory planning and optimisation method for intelligent vehicle lane changing emergently

• Published in: IET intelligent transport systems 2018-12, Vol.12 (10), p.1336-1344
• Main Authors: Jiang, Haobin, Shi, Kaijin, Cai, Junyu, Chen, Long
• Format: Article
• Language: English
• Subjects: emergency lane‐changing process; emergency lane‐changing trajectory planning method; hp‐adaptive pseudospectral method; initial stage; intelligent vehicle lane changing; Matlab; optimisation; path planning; PreScan; Research Article; road steering experiment; road vehicles; sigmoid functions; tracking stage; trajectory control; trajectory optimisation method
• ISSN: 1751-956X; 1751-9578; 1751-9578
• DOI: 10.1049/iet-its.2018.5224

The real time and adaptability of emergency lane-changing trajectory planning method is critical to the safe operation of the intelligent vehicle. This study presents the design and implementation of the trajectory planning and optimisation method of intelligent vehicle lane changing emergently based on hp-adaptive pseudospectral method. The method divides the emergency lane-changing process into the initial stage and tracking stage for trajectory planning based on road steering experiment and sigmoid functions. An hp-adaptive pseudospectral method is introduced to connect and optimise the lane-changing trajectory. PreScan and Matlab are used to simulate the planning of emergency lane-changing trajectory under six conditions, and the simulation results verify the effectiveness and real time of the planning and optimisation method. In comparison with trajectory planning methods based on polynomial functions, this method is characterised by shorter response time and safety distance and has better adaptability under different conditions.