Mandatory lane-changing decision making and planning in emergency situations. Issue 1 (24th December 2022)

• Record Type: Journal Article
• Authors: Liu, Yang; Shi, Congling
• Is Part Of: Transportation safety and environment. Volume 5:Issue 1(2023)
• Publication Date: 2022-12-24
• Subjects: mandatory lane-changing -- collision avoidance -- decision making -- convex optimization; Transportation engineering -- Periodicals; Transportation -- Safety measures -- Periodicals; 629.04
• DOI: 10.1093/tse/tdac041
• Languages: English
• ISSNs: 2631-4428

Abstract

Abstract: By considering mandatory lane-changing as a collision avoidance measure, this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario. Different from the traditional algorithm in which lane-change decision making and trajectory planning are separated, they are here coupled in a proposed algorithm and the related parameters are dynamically adjusted in the whole process. In addition to lane-change collision avoidance feasibility analysis, lane-change time instance and duration time are obtained by solving the constrained convex quadratic optimization programme. By taking lane-change time instance and duration time as inputs, the algorithm then proceeded to propose a kinematic model-based high-order polynomial lane change trajectory. By giving the simulation result compassion with the related algorithm, it is proved that the proposed algorithm has a good robustness and high efficiency.