Lane change decision planning for autonomous vehicles

被引：5

作者：

Ouyang, Kangqiang ^{[1
]}

Wang, Yong ^{[1
]}

Li, Yanqiang ^{[1
]}

Zhu, Yunhai ^{[1
]}

机构：

[1] Qilu Univ Technol, Shandong Prov Key Lab Automot Elect Technol, Inst Automat, Shandong Acad Sci, Jinan, Shandong, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

关键词：

lane change intention; gain function; polynomial; track change; lass function;

D O I：

10.1109/CAC51589.2020.9327195

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article constructs a simplified lane-changing scene model. Frequent lane-changing in actual driving scenarios will reduce driving safety and comfort. This article uses a gain function to analyze the generation of lane-changing intentions and rely on the minimum safety distance formula to judge The risk of changing lanes. When the relevant conditions are met, the vehicle executes the lane-changing action, otherwise it continues to maintain the car following state. In this paper, the lane-changing trajectory is generated based on the general model of the fifth degree polynomial, and the relatively optimal lane-changing trajectory is selected by calculating the value of the loss function. Finally, it is verified and analyzed through the MATLAB simulation environment. The results show that the method proposed in this paper has achieved a significant improvement in the safety and stability of the lane changing action.

引用

页码：6277 / 6281

页数：5