Comparison of Ideal Vehicle Lane-Change Trajectories

971062

02/24/1997

Event
SAE International Congress and Exposition
Authors Abstract
Content
This paper seeks to compare various models of desired, or ideal, vehicle lane-change trajectories or paths and to determine which is best based on selected criteria. Background information is presented covering the utility of lane-change maneuvers, lane-change terminology, and known desired open-loop trajectories. The performance of a vehicle may be assessed by measuring its deviation from an ideal path during simulated or actual limit lane-change maneuvers. Therefore, several techniques for assessing vehicle performance against an ideal trajectory are demonstrated. Similarly, in the present effort, performance indices such as integral penalty (cost) functions are used for assessing candidate lane-change trajectories. Therefore, ideal trajectory comparison is essentially treated as an optimization problem with prescribed continuity and boundary conditions, where a path's length, curvature, and rate of change of curvature are taken as its costs. The maximum constant velocity or critical speed is employed as an additional discriminator between the candidate paths. The results of side-by-side comparison of candidate ideal trajectories are presented and discussed.
Meta TagsDetails
DOI
https://doi.org/10.4271/971062
Pages
26
Citation
Sledge, N., and Marshek, K., "Comparison of Ideal Vehicle Lane-Change Trajectories," SAE Technical Paper 971062, 1997, https://doi.org/10.4271/971062.
Additional Details
Publisher
Published
Feb 24, 1997
Product Code
971062
Content Type
Technical Paper
Language
English