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Lane-Change Planning with Dynamic Programming and Closed-Loop Forward Simulation for Autonomous Vehicle
Technical Paper
2021-01-7012
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
This paper proposed a lane-change planning method for autonomous vehicle, aiming at fast obstacles avoidance in a way that make smooth and comfortable. The panning algorithm consists of dynamic programming and closed-loop forward simulation. The dynamic programming (DP) was employed to fast search a reference trajectory that avoids obstacles in topological configure space. And the closed-loop forward simulation (CFS) was used to track the reference trajectory for generating smooth trajectory, since the CFS being able to incorporate any nonlinear law and nonlinear vehicle constraints. Furthermore, an anti-windup lateral controller was designed to make the closed-loop forward simulation robust, as the controller being proved to be stable by Lyapunov function. Finally, the numerical results are provided to illustrate the effectiveness of the proposed method.
Authors
- Yunpeng Li - Key Laboratory of Conveyance and Equipment Ministry of Educa
- Zhenwen Deng - Key Laboratory of Conveyance and Equipment Ministry of Educa
- Dequan Zeng - Key Laboratory of Conveyance and Equipment Ministry of Educa
- Yiming Hu - Key Laboratory of Conveyance and Equipment Ministry of Educa
- Peizhi Zhang - School of Automotive Studies, Tongji University, China; Shan
- Zhuoren Li - School of Automotive Studies, Tongji University, China.
- Zhiqiang Fu - School of Automotive Studies, Tongji University, China.
- Zhaoxia Meng - Chongqing Jialing All-Terrain Vehicle Co., Ltd., China.
- Fengwu Shan - New Energy Vehicle Corporation, Jiangxi Jiangling Motors Gro
Citation
Li, Y., Deng, Z., Zeng, D., Hu, Y. et al., "Lane-Change Planning with Dynamic Programming and Closed-Loop Forward Simulation for Autonomous Vehicle," SAE Technical Paper 2021-01-7012, 2021, https://doi.org/10.4271/2021-01-7012.Also In
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