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Research on Vehicle Lane Change Based on Vehicle Speed Planning
ISSN: 0148-7191, e-ISSN: 2688-3627
To be published on April 06, 2021 by SAE International in United States
Event: SAE WCX Digital Summit
Lane changing manoeuvers is an essential rudiment in vehicle driving and has a significant impact on the characteristics of traffic flow. In the case of traditional cars, the driver operates the vehicle to complete the lane change whilst for autonomous vehicles, completing the lane change requires planning the lane change trajectory and controlling the vehicle speed during the lane change. Unreasonable lane change trajectory and vehicle speed may cause the vehicle to lose stability, threaten driving safety, increase energy consumption and waste energy. This paper considers the safety and economy of the lane changing process, and proposes a new lane changing method for vehicles. Firstly, by extracting the vehicle lane-changing trajectory data from the high-definition video taken by the drone, comparing and analyzing the lane-changing time and longitudinal average speed of different vehicles, establishing the vehicle lane-changing trajectory model, and planning the lane-changing trajectory route according to the obtained lane-changing trajectory model. Secondly, according to the planned lane-changing trajectory, the task of lane-changing needs to be performed, based on the vehicle dynamics model and the road curvature information during the lane-changing process. A dynamic programming algorithm is used to plan the vehicle speed in multiple stages to achieve the optimal decision. These ensures that a safe and economical vehicle speed trajectory is obtained during the lane changing process, and finally, an unmanned vehicle can change lanes when required. The research in this article provides a certain reference for the planning of vehicle lane change.