RT Journal Article
A1 Haobin Jiang
A1 Kaijin Shi
A1 Junyu Cai
A1 Long Chen

PB iet
T1 Trajectory planning and optimisation method for intelligent vehicle lane changing emergently
JN IET Intelligent Transport Systems
VO 12
IS 10
SP 1336
OP 1344
AB 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.
K1 emergency lane-changing trajectory planning method
K1 PreScan
K1 intelligent vehicle lane changing
K1 initial stage
K1 emergency lane-changing process
K1 trajectory optimisation method
K1 sigmoid functions
K1 hp-adaptive pseudospectral method
K1 Matlab
K1 road steering experiment
K1 tracking stage
DO https://doi.org/10.1049/iet-its.2018.5224
UL https://digital-library.theiet.org/;jsessionid=1d9nh78t4e39r.x-iet-live-01content/journals/10.1049/iet-its.2018.5224
LA English
SN 1751-956X
YR 2018
OL EN