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Modeling and Simulation of Intelligent Driving with Trajectory Planning and Tracking

Journal Article
2014-01-0108
ISSN: 2327-5626, e-ISSN: 2327-5634
DOI: https://doi.org/10.4271/2014-01-0108
Published April 01, 2014 by SAE International in United States
Modeling and Simulation of Intelligent Driving with Trajectory Planning and Tracking
Sector:
Citation: Wu, M., Deng, W., Zhang, S., Sun, H. et al., "Modeling and Simulation of Intelligent Driving with Trajectory Planning and Tracking," SAE Int. J. Trans. Safety 2(1):1-7, 2014, https://doi.org/10.4271/2014-01-0108.
Language: English

Abstract:

This paper proposes a novel modeling and simulation environment developed under Matlab/Simulink with friendly and intuitive graphic user interfaces, aimed to enable math-based virtual development and test of intelligent driving systems. Six typical driving maneuvers are first proposed, which are further abstracted into two atomic sub-maneuvers: lane following and lane change, as any maneuvers can be the combinations of these two. A generic trajectory planning and path tracking control algorithm are developed to deal with the generality and commonality of the lane change function with optimization among safety, comfort and efficiency in performing the lane change maneuver. Some typical simulations are conducted with results demonstrating the practical usefulness, efficiency and convenience in using this proposed tool.