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Modeling and field ...
Modeling and field experiments on autonomous vehicle lane changing with surrounding human-driven vehicles
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- Wang, Zhen (författare)
- Changan University, Peoples R China,University of South Florida
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- Zhao, Xiangmo (författare)
- Changan University, Peoples R China
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- Xu, Zhigang (författare)
- Changan University, Peoples R China
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- Li, Xiaopeng (författare)
- University of South Florida
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- Qu, Xiaobo, 1983 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2020-02-18
- 2021
- Engelska.
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Ingår i: Computer-Aided Civil and Infrastructure Engineering. - : Wiley. - 1093-9687 .- 1467-8667. ; 36:7, s. 877-889
- Relaterad länk:
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https://doi.org/10.1...
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https://research.cha...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- Autonomous vehicle (AV) technology is widely studied in both industrial and academic communities since it is regarded as a promising means for improving transportation safety and efficiency. Lane changing is a critical link for higher-level AV operations. However, few studies on AV lane changing consider the dynamics of surrounding vehicles, particularly in a mixed traffic environment including human-driven vehicles (HVs). Therefore, this article presents a dynamic lane-changing model for AV incorporating human driver behavior in mixed traffic. The proposed model includes four key components: car following (and lane keeping), lane-changing decision, dynamic trajectory generation, and model predictive control (MPC)-based trajectory tracking. AV longitudinal control algorithm is also depicted in detail in this article. Field experiments are conducted on a large-scale test track to test and validate the proposed model. An AV and three HVs are used in the lane-changing experiments. Different human driver behaviors are considered in the experiment settings. Experimental results show that the proposed lane-changing model can complete lane-changing maneuvers efficiently when HVs are cooperative and can also robustly abort them when HVs are uncooperative. Compared with the measured human lane-changing maneuvers, AV lane-changing maneuvers from the proposed model are more comfortable and safer.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Samhällsbyggnadsteknik -- Transportteknik och logistik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Civil Engineering -- Transport Systems and Logistics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
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- art (ämneskategori)
- ref (ämneskategori)
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