Volume 17, Issue 9 (11-2017)
Modares Mechanical Engineering 2017, 17(9): 351-360 |
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shojaei S, Rahmani Hanzaki A, Azadi S, saeedi M A. Design of decision-making lane change algorithm of truck-semitrailer in real dynamic environment. Modares Mechanical Engineering 2017; 17 (9) :351-360
URL: http://mme.modares.ac.ir/article-15-2536-en.html
URL: http://mme.modares.ac.ir/article-15-2536-en.html
1- Department of Mechanical Engineering, Shahid Rajaee teacher training University, Tehran, Iran
2- Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
3- Department of Mechanical Engineering, Islamic Azad University, Parand Branch, Parand, Iran
2- Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
3- Department of Mechanical Engineering, Islamic Azad University, Parand Branch, Parand, Iran
Abstract: (5294 Views)
The main goal of this study is to extract an algorithm for truck-semitrailer lane change maneuver decision-making in real dynamic environment. In order to accomplish this aim, a new method for determining decision-making constraints is applied based on the kinematics of the truck-semitrailer. In this approach, the various points of the truck-semitrailer are evaluated in different conditions when lane change maneuver is in progress, and the critical points of the truck-semitrailer are defined according to the present method. Critical points are used as the main points of the truck-semitrailer to apply the constraints. In order to enhance the efficiency of the methodology, new offline dynamic realistic method is used based on a four DoF dynamic model of the truck-semitrailer. By this approach, a relation for minimum time of the maneuver is extracted based on the dynamic model of the truck-semitrailer and environment features. Based on the results of the simulation assays, the minimum reliable time for lane change maneuver is chosen and decision-making strategies are proposed for the lane change maneuver of the vehicle in real dynamic environment. To evaluate the algorithm, it applied to a sample of the truck-semitrailers. The results predict the methodology is accurate and applicable.
Article Type: Research Article |
Subject:
design, tribology
Received: 2017/06/23 | Accepted: 2017/08/14 | Published: 2017/09/8
Received: 2017/06/23 | Accepted: 2017/08/14 | Published: 2017/09/8
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