一种复杂动态环境下自动驾驶车辆柔性变道方法

Q4 Chemical Engineering

Applied and Computational Mechanics Pub Date : 2021-04-25 DOI:10.22055/JACM.2021.36276.2818

M. Rafat, S. Azadi

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引用次数: 1

摘要

在高度瞬态动态环境下的决策和路径规划以及道路状况的影响是以往研究中没有完全解决的问题。目标是实现安全舒适的变道，包括灵活的重新规划功能。本文提出了一种综合考虑车辆纵向动力学和横向动力学的车辆自动变道路径规划和决策结构。该方法能够根据新的交通状况在变道机动中进行重新规划。包括所有相关车辆的动态和提供在线性能是该系统的另一个优点。对该算法进行了仿真，并构建了各种场景来评估系统的效率。结果表明，该系统具有完全可接受的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Novel Flexible Lane Changing (FLC) Method in Complicated Dynamic Environment for Automated Vehicles

Decision making and path planning in case of highly transient dynamics of the surrounding as well as the effect of road condition are the issues that are not completely solved in the previous researches. The goal is to perform a safe and comfortable lane change that includes flexible re-planning capabilities. In this paper, a novel structure for path planning and decision making part of a vehicle automatic lane change has been introduced which comprehensively considers both longitudinal and lateral dynamics of the vehicle. The presented method is able to perform re-planning even in the middle of a lane change maneuver according to new traffic condition. Inclusion of the dynamics of all involved vehicles and providing online performance are the other advantages of the proposed system. The algorithm is simulated and various scenarios are constructed to evaluate the efficiency of the system. The results show that the system has completely acceptable performance.

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来源期刊

Applied and Computational Mechanics Engineering-Computational Mechanics

CiteScore

0.80

自引率

0.00%

发文量

审稿时长

14 weeks

期刊介绍： The ACM journal covers a broad spectrum of topics in all fields of applied and computational mechanics with special emphasis on mathematical modelling and numerical simulations with experimental support, if relevant. Our audience is the international scientific community, academics as well as engineers interested in such disciplines. Original research papers falling into the following areas are considered for possible publication: solid mechanics, mechanics of materials, thermodynamics, biomechanics and mechanobiology, fluid-structure interaction, dynamics of multibody systems, mechatronics, vibrations and waves, reliability and durability of structures, structural damage and fracture mechanics, heterogenous media and multiscale problems, structural mechanics, experimental methods in mechanics. This list is neither exhaustive nor fixed.