Modares Mechanical Engineering

Modares Mechanical Engineering

Motion Planning in Critical Lane Change Maneuvers Considering the Stability Margins of the Vehicle

Document Type : Original Research

Authors
hadi Sazgar 1
Ali Keymasi Khalaji 2
1 Iranian Research Organization for Science and Technology
2 Kharazmi University
10.48311/MME.24.4.225
Abstract
In recent years, advancements in driver assistance technology have significantly minimized the impact of human error on traffic accidents. The development of these systems is of great interest, especially for critical and accident-causing maneuvers such as critical lane change on the highway. One of the important parts of automatic lane change is the motion planning. In this research, taking into account the criteria of collision avoidance and feasibility of the path, an algorithm for the motion planning is proposed. The main innovation of the present research is that the dynamic limits and stability margins of the vehicle have been converted into quantitative criteria and considered in the motion planning. To evaluate the performance of the motion planning algorithm, the complete model of the car is used in the Carsim-Simulink software. Also, to follow the designed path, an integrated longitudinal-lateral control has been designed and implemented. The simulation results show that the proposed method provides a more accurate assessment of the trajectory dynamic feasibility in high-speed critical lane change maneuvers compared to the previous methods. This issue is especially evident for critical maneuvers where the lateral acceleration of the trajectory is more dominant than the longitudinal acceleration.
Keywords
Motion Planning
Critical Lane Change
Vehicle Dynamic Limits
Collision avoidance
Feasible Path

Subjects

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Modares Mechanical Engineering
Volume 24, Issue 4
March 2024
Pages 225-238