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access icon openaccess Trajectory planning and optimisation method for intelligent vehicle lane changing emergently

This is an open access article published by the IET under the Creative Commons Attribution-NonCommercial-NoDerivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
Received 04/01/2018, Accepted 17/07/2018, Revised 21/06/2018, Published 07/09/2018

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.

Inspec keywords: trajectory control; optimisation; road vehicles; path planning

Other keywords: emergency lane-changing trajectory planning method; road steering experiment; intelligent vehicle lane changing; emergency lane-changing process; initial stage; Matlab; tracking stage; hp-adaptive pseudospectral method; sigmoid functions; PreScan; trajectory optimisation method

Subjects: Optimisation techniques; Road-traffic system control; Spatial variables control

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