Volume 21, Issue 8 (August 2021)                   Modares Mechanical Engineering 2021, 21(8): 501-516 | Back to browse issues page

‎ 20.1001.1.10275940.1400.21.8.5.7

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Rafat M, Azadi S, Analooee A, Samiee S, Rezaei H. Trajectory planning and simultaneous longitudinal and lateral control of vehicle based on the surrounding vehicles decisions during the lane change maneuver. Modares Mechanical Engineering 2021; 21 (8) :501-516
URL: http://mme.modares.ac.ir/article-15-48691-en.html
Trajectory planning and simultaneous longitudinal and lateral control of vehicle based on the surrounding vehicles decisions during the lane change maneuver
Mohsen Rafat1 , Shahram Azadi * 2, Ali Analooee1 , Sajjad Samiee3 , Hamidreza Rezaei1
1- K. N. Toosi University of Technology
2- K. N. Toosi university of Technology , azadi@kntu.ac.ir
3- Technical University of Graz (TU Graz)
Abstract:   (1771 Views)
With the increasing number of road accidents and driver assistance systems development, the automated vehicles importance has increased more than ever. As the issue of automated vehicles comes up, attending to their safety, and the impact of the other vehicles in traffic flow on their performance dramatically increased. One of the most important problems for automated vehicles is designing and controlling the trajectory regarding the surrounding vehicles in transient dynamic traffic conditions during complicated maneuvers. Although various studies have been performed in the field of lane change in dynamic traffic conditions and even in critical high speed, considering the transient dynamic conditions has been limited to the beginning of the maneuver and no solution has been provided for the surrounding vehicles’ immediate changes during the maneuver. The algorithm presented in this paper is able to design new safe optimized trajectories according to the sudden decisions of the surrounding vehicles during the lane change maneuver, also ensures collision avoidance in the whole maneuver via vehicle’s simultaneous longitudinal and lateral control. After evaluating the decision-making unit’s performance by real driving tests, the presented algorithm is simulated with different scenarios in complicated transient dynamic traffic conditions by using MATLAB software and its desired performance has been proven in the dynamic environment of IPG CarMaker, in the presence of surrounding vehicles.
Keywords: Lane change, Path planning, decision making, Sliding mode controller, Automated vehicles.
Full-Text [PDF 1393 kb]   (1240 Downloads)    
Article Type: Original Research | Subject: Control
Received: 2020/12/27 | Accepted: 2021/02/14 | Published: 2021/08/1
Add your comments about this article : Your username or Email:
CAPTCHA
Send email to the article author

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.