运动规划
加速度
路径(计算)
工程类
五次函数
控制理论(社会学)
切线
模拟
计算机科学
控制工程
数学
非线性系统
人工智能
机器人
控制(管理)
物理
几何学
经典力学
量子力学
程序设计语言
作者
Armin Norouzi,Reza Kazemi,Omid Reza Abbassi
出处
期刊:International Journal of Vehicle Autonomous Systems
[Inderscience Enterprises Ltd.]
日期:2019-01-01
卷期号:14 (3): 239-239
被引量:6
标识
DOI:10.1504/ijvas.2019.099831
摘要
Automatic lane change is of utmost importance in designing autonomous vehicles and driver assistant systems. In this study, a novel path for lane change manoeuvres, based on mathematical functions, is introduced. To obtain a suitable path for lane change manoeuvres, four functions, namely quintic, septic, sinusoidal, and tangent functions, were examined. The analysis revealed that, according to the ISO Standards and peak acceleration criterion, a quintic function has the advantage of passenger comfort over other path functions. After choosing the appropriate path, an algorithm for re-planning the lane change path, based on dynamic traffic conditions, was proposed. The simulation results show that the proposed algorithm is capable of designing the path in various traffic conditions. Moreover, the algorithm can navigate the vehicle to the initial lane, if the manoeuvre is not possible. Our analytical results showed that the designed paths are suitable, comfortable, and safe.
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