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论文类型：期刊论文

发表时间：2015-08-15

发表刊物：EXPERT SYSTEMS WITH APPLICATIONS

收录刊物：SCIE、EI、Scopus

卷号：42

期号：14

页面范围：5932-5946

ISSN号：0957-4174

关键字：Trajectory planning; Tracking control; Backstepping method; Advanced driver assistance systems; Intelligent vehicles; Cooperative vehicle infrastructure system

摘要：Lane change maneuver is one of the most conventional behaviors in driving. Unsafe lane change maneuvers are key factor for traffic accidents and traffic congestion. For drivers' safety, comfort and convenience, advanced driver assistance systems (ADAS) are presented. The main problem discussed in this paper is the development of an autonomous lane change system. The system can be extended applied in intelligent vehicles in future. It solves two crucial issues - trajectory planning and trajectory tracking. Polynomial method was adopted for describing the trajectory planning issue. Movement of a host vehicle was abstracted into time functions. Moreover, collision detection was mapped into a parameter space by adopting infinite dynamic circles. The second issue was described by backstepping principle. According to the Lyapunov function, a tracking controller with global convergence property was verified. Both the simulations and the experimental results demonstrate the feasibility and effectiveness of the designed method for autonomous lane change. (C) 2015 Elsevier Ltd. All rights reserved.