典型文献
Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles
文献摘要：
To improve the safety and driving stability of the autonomous heavy truck,it is necessary to consider the differ-ences of driving behavior and drivable trajectories between the heavy trucks and passenger cars.This study proposes a proba-bilistic decision-making and trajectory planning framework for the autonomous heavy trucks.Firstly,the driving decision pro-cess is divided into intention generation and feasibility evalua-tions,which are realized using the utility theory and risk assess-ment,respectively.Subsequently the driving decision is made and sent to the trajectory planning module.In order to reflect the greater risks of the truck to other surrounding vehicles,the aggressiveness index(AI)is proposed and quantified to infer the asymmetrical risk level of lane-change maneuver.In the planning stage,the lateral and roll dynamics stability domains are devel-oped as the constraints to exclude the candidate trajectories that would cause vehicle instability.Finally,the simulation results are compared between the proposed model and the artificial poten-tial filed model in the scenarios extracted from the naturalistic driving data.It is shown that the proposed framework can pro-vide the human-like lane-change decisions and truck-friendly tra-jectories,and performs well in dynamic driving environments.
文献关键词：
中图分类号：
作者姓名：
Wen Hu;Zejian Deng;Dongpu Cao;Bangji Zhang;Amir Khajepour;Lei Zeng;Yang Wu
作者机构：
State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China;Department of Mechanical and Mechatronics Engineering,University of Waterloo,Waterloo ON N2L3G1,Canada;School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China
文献出处：
引用格式：
[1]Wen Hu;Zejian Deng;Dongpu Cao;Bangji Zhang;Amir Khajepour;Lei Zeng;Yang Wu-.Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles)[J].自动化学报（英文版）,2022(12):2161-2173
A类：
naturalistic,jectories
B类：
Probabilistic,Lane,Change,Decision,Making,Planning,Autonomous,Heavy,Vehicles,To,improve,safety,driving,autonomous,heavy,necessary,consider,differ,ences,behavior,drivable,trajectories,between,trucks,passenger,cars,This,study,proposes,proba,making,trajectory,planning,framework,Firstly,divided,into,intention,generation,feasibility,evalua,tions,which,realized,using,utility,theory,assess,respectively,Subsequently,made,sent,module,In,order,reflect,greater,risks,other,surrounding,vehicles,aggressiveness,proposed,quantified,infer,asymmetrical,level,lane,change,maneuver,stage,lateral,roll,dynamics,domains,devel,oped,constraints,exclude,candidate,that,would,cause,instability,Finally,simulation,results,compared,model,artificial,poten,tial,filed,scenarios,extracted,from,data,It,shown,human,like,decisions,friendly,performs,well,environments
AB值：
0.588305
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
