典型文献
Lane-Exchanging Driving Strategy for Autonomous Vehicle via Trajectory Prediction and Model Predictive Control
文献摘要：
The cooperation between an autonomous vehicle and a nearby vehicle is critical to ensure driving safety in the lane-exchanging scenario.The nearby vehicle trajectory needs to be predicted,from which the autonomous vehicle is controlled to prevent possible collisions.This paper proposes a lane-exchanging driving strategy for the autonomous vehicle to cooperate with the nearby vehicle by integrating vehicle trajectory prediction and motion control.A trajec-tory prediction method is developed to anticipate the nearby vehicle trajectory.The Gaussian mixture model(GMM),together with the vehicle kinematic model,are synthesized to predict the nearby vehicle trajectory.A potential-field-based model predictive control(MPC)approach is utilized by the autonomous vehicle to conduct the lane-exchang-ing maneuver.The potential field of the nearby vehicle is considered in the controller design for collision avoidance.On-road driving data verification shows that the nearby vehicle trajectory can be predicted by the proposed method.CarSim? simulations validate that the autonomous vehicle can perform the lane-exchanging maneuver and avoid the nearby vehicle using the proposed driving strategy.The autonomous vehicle can thus safely perform the lane-exchanging maneuver and avoid the nearby vehicle.
文献关键词：
中图分类号：
作者姓名：
Yimin Chen;Huilong Yu;Jinwei Zhang;Dongpu Cao
作者机构：
School of Marine Science and Technology,Northwestern Polytechnical University,Xi'an 710072,China;Department of Mechanical and Mechatronics Engineering,University of Waterloo,Waterloo,Canada;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China
文献出处：
引用格式：
[1]Yimin Chen;Huilong Yu;Jinwei Zhang;Dongpu Cao-.Lane-Exchanging Driving Strategy for Autonomous Vehicle via Trajectory Prediction and Model Predictive Control)[J].中国机械工程学报,2022(04):242-253
A类：
exchang
B类：
Lane,Exchanging,Driving,Strategy,Autonomous,Vehicle,via,Trajectory,Prediction,Model,Predictive,Control,cooperation,between,autonomous,vehicle,nearby,critical,ensure,driving,safety,lane,exchanging,scenario,trajectory,needs,predicted,from,which,controlled,prevent,possible,collisions,This,paper,proposes,strategy,cooperate,integrating,prediction,motion,method,developed,anticipate,Gaussian,mixture,model,GMM,together,kinematic,are,synthesized,potential,field,predictive,MPC,approach,utilized,conduct,maneuver,considered,controller,design,avoidance,On,road,data,verification,shows,that,can,proposed,CarSim,simulations,validate,perform,using,thus,safely
AB值：
0.438079
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