基于模型预测控制的前方交通流变道机动决策改进

IF 2.3 4区 工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC
Mohsen Rafat, Shahram Azadi, Mozhgan Faramarzi, Ali Analooee
{"title":"基于模型预测控制的前方交通流变道机动决策改进","authors":"Mohsen Rafat,&nbsp;Shahram Azadi,&nbsp;Mozhgan Faramarzi,&nbsp;Ali Analooee","doi":"10.1049/itr2.70054","DOIUrl":null,"url":null,"abstract":"<p>This paper proposes a novel decision-making framework that combines the influence of ahead traffic flow with the driver's personal decisions, thereby addressing the impact of transient traffic flow on lane-change decision-making. The presented algorithm can design safe trajectories without any collisions at any time of the manoeuvre considering the effects of ahead traffic flow on future decisions of the surrounding vehicles and sudden independent decisions of the surrounding vehicles during the lane change manoeuvre. In order to combine the microscopic and macroscopic models of the traffic environment around the ego vehicle, the ahead traffic flow is modelled and it is combined with the independent movements of the front vehicle in the target lane that is due to the driver's personal decisions. Using the model-based predictive control, the effects of these changes are investigated during the lane change manoeuvre. The algorithm successfully completed all lane change manoeuvres with collision avoidance considering the changes in surrounding vehicles caused by the ahead traffic flow. The performance of the proposed algorithm is simulated in complicated lane change manoeuvre regarding transient changes in the traffic flow and it is validated in IPG Automotive (IPG CarMaker) dynamic environment considering surrounding vehicles. The results indicate the desired performance of the proposed algorithm regarding macroscopic and microscopic changes around the ego vehicle even during the lane change manoeuvre.</p>","PeriodicalId":50381,"journal":{"name":"IET Intelligent Transport Systems","volume":"19 1","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2025-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/itr2.70054","citationCount":"0","resultStr":"{\"title\":\"Decision Making Improvement Based on the Ahead Traffic Flow During the Lane Change Manoeuvre Via Model Predictive Control\",\"authors\":\"Mohsen Rafat,&nbsp;Shahram Azadi,&nbsp;Mozhgan Faramarzi,&nbsp;Ali Analooee\",\"doi\":\"10.1049/itr2.70054\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>This paper proposes a novel decision-making framework that combines the influence of ahead traffic flow with the driver's personal decisions, thereby addressing the impact of transient traffic flow on lane-change decision-making. The presented algorithm can design safe trajectories without any collisions at any time of the manoeuvre considering the effects of ahead traffic flow on future decisions of the surrounding vehicles and sudden independent decisions of the surrounding vehicles during the lane change manoeuvre. In order to combine the microscopic and macroscopic models of the traffic environment around the ego vehicle, the ahead traffic flow is modelled and it is combined with the independent movements of the front vehicle in the target lane that is due to the driver's personal decisions. Using the model-based predictive control, the effects of these changes are investigated during the lane change manoeuvre. The algorithm successfully completed all lane change manoeuvres with collision avoidance considering the changes in surrounding vehicles caused by the ahead traffic flow. The performance of the proposed algorithm is simulated in complicated lane change manoeuvre regarding transient changes in the traffic flow and it is validated in IPG Automotive (IPG CarMaker) dynamic environment considering surrounding vehicles. The results indicate the desired performance of the proposed algorithm regarding macroscopic and microscopic changes around the ego vehicle even during the lane change manoeuvre.</p>\",\"PeriodicalId\":50381,\"journal\":{\"name\":\"IET Intelligent Transport Systems\",\"volume\":\"19 1\",\"pages\":\"\"},\"PeriodicalIF\":2.3000,\"publicationDate\":\"2025-07-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1049/itr2.70054\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IET Intelligent Transport Systems\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1049/itr2.70054\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Intelligent Transport Systems","FirstCategoryId":"5","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/itr2.70054","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0

摘要

本文提出了一种将前方交通流影响与驾驶员个人决策相结合的决策框架,从而解决了瞬时交通流对变道决策的影响。该算法考虑了前方交通流对周围车辆未来决策的影响以及变道机动过程中周围车辆的突发性独立决策,能够在机动过程的任何时刻设计出无碰撞的安全轨迹。为了将自我车辆周围交通环境的微观和宏观模型结合起来,对前方交通流进行建模,并将其与前方车辆在目标车道上由于驾驶员个人决策而产生的独立运动相结合。利用基于模型的预测控制,研究了这些变化对变道机动的影响。该算法在考虑前方交通流引起的周围车辆变化的情况下,成功地完成了所有避碰变道机动。在考虑交通流瞬态变化的复杂变道机动环境中进行了仿真,并在考虑周边车辆的IPG Automotive动态环境中进行了验证。结果表明,即使在变道机动过程中,该算法对自我车辆周围的宏观和微观变化也具有理想的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Decision Making Improvement Based on the Ahead Traffic Flow During the Lane Change Manoeuvre Via Model Predictive Control

Decision Making Improvement Based on the Ahead Traffic Flow During the Lane Change Manoeuvre Via Model Predictive Control

This paper proposes a novel decision-making framework that combines the influence of ahead traffic flow with the driver's personal decisions, thereby addressing the impact of transient traffic flow on lane-change decision-making. The presented algorithm can design safe trajectories without any collisions at any time of the manoeuvre considering the effects of ahead traffic flow on future decisions of the surrounding vehicles and sudden independent decisions of the surrounding vehicles during the lane change manoeuvre. In order to combine the microscopic and macroscopic models of the traffic environment around the ego vehicle, the ahead traffic flow is modelled and it is combined with the independent movements of the front vehicle in the target lane that is due to the driver's personal decisions. Using the model-based predictive control, the effects of these changes are investigated during the lane change manoeuvre. The algorithm successfully completed all lane change manoeuvres with collision avoidance considering the changes in surrounding vehicles caused by the ahead traffic flow. The performance of the proposed algorithm is simulated in complicated lane change manoeuvre regarding transient changes in the traffic flow and it is validated in IPG Automotive (IPG CarMaker) dynamic environment considering surrounding vehicles. The results indicate the desired performance of the proposed algorithm regarding macroscopic and microscopic changes around the ego vehicle even during the lane change manoeuvre.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
IET Intelligent Transport Systems
IET Intelligent Transport Systems 工程技术-运输科技
CiteScore
6.50
自引率
7.40%
发文量
159
审稿时长
3 months
期刊介绍: IET Intelligent Transport Systems is an interdisciplinary journal devoted to research into the practical applications of ITS and infrastructures. The scope of the journal includes the following: Sustainable traffic solutions Deployments with enabling technologies Pervasive monitoring Applications; demonstrations and evaluation Economic and behavioural analyses of ITS services and scenario Data Integration and analytics Information collection and processing; image processing applications in ITS ITS aspects of electric vehicles Autonomous vehicles; connected vehicle systems; In-vehicle ITS, safety and vulnerable road user aspects Mobility as a service systems Traffic management and control Public transport systems technologies Fleet and public transport logistics Emergency and incident management Demand management and electronic payment systems Traffic related air pollution management Policy and institutional issues Interoperability, standards and architectures Funding scenarios Enforcement Human machine interaction Education, training and outreach Current Special Issue Call for papers: Intelligent Transportation Systems in Smart Cities for Sustainable Environment - https://digital-library.theiet.org/files/IET_ITS_CFP_ITSSCSE.pdf Sustainably Intelligent Mobility (SIM) - https://digital-library.theiet.org/files/IET_ITS_CFP_SIM.pdf Traffic Theory and Modelling in the Era of Artificial Intelligence and Big Data (in collaboration with World Congress for Transport Research, WCTR 2019) - https://digital-library.theiet.org/files/IET_ITS_CFP_WCTR.pdf
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信