Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system

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	Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system
	You, F (You, Feng); Zhang, RH (Zhang, Ronghui); Lie, G (Lie, Guo); Wang, HW (Wang, Haiwei); Wen, HY (Wen, Huiyin); Xu, JM (Xu, Jianmin)
刊名	EXPERT SYSTEMS WITH APPLICATIONS
	2015
卷号	42 期号:14 页码:5932-5946
关键词	Trajectory planning Tracking control Backstepping method Advanced driver assistance systems Intelligent vehicles Cooperative vehicle infrastructure system
ISSN号	0957-4174
通讯作者	Zhang, RH
英文摘要	Lane change maneuver is one of the most conventional behaviors in driving. Unsafe lane change maneuvers are key factor for traffic accidents and traffic congestion. For drivers' safety, comfort and convenience, advanced driver assistance systems (ADAS) are presented. The main problem discussed in this paper is the development of an autonomous lane change system. The system can be extended applied in intelligent vehicles in future. It solves two crucial issues - trajectory planning and trajectory tracking. Polynomial method was adopted for describing the trajectory planning issue. Movement of a host vehicle was abstracted into time functions. Moreover, collision detection was mapped into a parameter space by adopting infinite dynamic circles. The second issue was described by backstepping principle. According to the Lyapunov function, a tracking controller with global convergence property was verified. Both the simulations and the experimental results demonstrate the feasibility and effectiveness of the designed method for autonomous lane change.
收录类别	SCI
WOS记录号	WOS:000355028500012
公开日期	2015-07-11
内容类型	期刊论文
源URL	[http://ir.xjipc.cas.cn/handle/365002/4287]
专题	新疆理化技术研究所_多语种信息技术研究室
作者单位	S China Univ Technol, Sch Civil Engn & Transportat, Guangzhou 510640, Guangdong, Peoples R China;Chinese Acad Sci, Xinjiang Tech Inst Phys & Chem, Urumqi 830011, Xinjiang, Peoples R China;Dalian Univ Technol, Sch Automot Engn, Dalian 116024, Liaoning, Peoples R China
推荐引用方式 GB/T 7714	You, F ,Zhang, RH ,Lie, G ,et al. Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system[J]. EXPERT SYSTEMS WITH APPLICATIONS,2015,42(14):5932-5946.
APA	You, F ,Zhang, RH ,Lie, G ,Wang, HW ,Wen, HY ,&Xu, JM .(2015).Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system.EXPERT SYSTEMS WITH APPLICATIONS,42(14),5932-5946.
MLA	You, F ,et al."Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system".EXPERT SYSTEMS WITH APPLICATIONS 42.14(2015):5932-5946.