Real Time Trajectory Re-planning for Autonomous Vehicle Lane Changing in Uncertain Traffic

被引：0
|
作者：
Qiao, Bangjun [1 ]
Wu, Xiaodong [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Inst Automot Engn, Shanghai, Peoples R China
来源：
2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2019年
关键词：
autonomous driving; lane change; re-planning; MODEL;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Lane changing is a common working scenario for autonomous vehicles. This paper proposes a safe and comfort-oriented planning algorithm for an autonomous vehicle to perform lane changes on a straight and level road. Gray Prediction Model is used to estimate the driving status of surrounding vehicles, and time-variant safety margins are used during quadratic trajectory planning and executing. The algorithm is able to adapt its lane changing strategy based on traffic situation and passenger demands, and features condition-triggered re-planning to handle unexpected traffic situations.
引用
收藏
页码：1524 / 1529
页数：6
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