Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles

Mathematical Modelling of Engineering Problems; Vol. 9, No. 1, February, 2022, pp. 251-260

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主要な著者:	Quach, Hai Tho, Huynh, Cong Phap, Pham, Anh Phuong
フォーマット:	Bài viết
言語:	English
出版事項:	Mathematical Modelling of Engineering Problems (MMEP) 2022
主題:	autonomous vehicle path planning lane change motion planning intelligent transportation systems
オンライン･アクセス:	https://doi.org/10.18280/mmep.090131 http://elib.vku.udn.vn/handle/123456789/2150
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spelling	oai:elib.vku.udn.vn:123456789-21502022-06-21T04:27:35Z Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles Quach, Hai Tho Huynh, Cong Phap Pham, Anh Phuong autonomous vehicle path planning lane change motion planning intelligent transportation systems Mathematical Modelling of Engineering Problems; Vol. 9, No. 1, February, 2022, pp. 251-260 Lane change is one of the important operations in motion of an autonomous vehicle. When encountering obstacles or wanting to overtake the vehicle ahead, the autonomous vehicle will make a decision and choose the best path to control the trajectory of motion to perform lane change. In this article, we will present solutions for lane change trajectories, including general path setting, building nonlinear models with states of vehicle speed, acceleration and jerk; building a constraint set to avoid collisions with a minimum safe distance model, which takes into account the potentially collision angle positions during lane change. Simulation results are performed in Matlab simulation environment to demonstrate an effective proposed solution and addressed the disadvantages in the modeling process for lane-changing operations, in order to improve the proactive safety of the motion planning for autonomous vehicles. 2022-06-21T04:26:31Z 2022-06-21T04:26:31Z 2022-02 Working Paper https://doi.org/10.18280/mmep.090131 2369-0747 (Online) http://elib.vku.udn.vn/handle/123456789/2150 en application/pdf Mathematical Modelling of Engineering Problems (MMEP)
institution	Trường Đại học Công nghệ Thông tin và Truyền thông Việt Hàn - Đại học Đà Nẵng
collection	DSpace
language	English
topic	autonomous vehicle path planning lane change motion planning intelligent transportation systems
spellingShingle	autonomous vehicle path planning lane change motion planning intelligent transportation systems Quach, Hai Tho Huynh, Cong Phap Pham, Anh Phuong Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles
description	Mathematical Modelling of Engineering Problems; Vol. 9, No. 1, February, 2022, pp. 251-260
format	Working Paper
author	Quach, Hai Tho Huynh, Cong Phap Pham, Anh Phuong
author_facet	Quach, Hai Tho Huynh, Cong Phap Pham, Anh Phuong
author_sort	Quach, Hai Tho
title	Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles
title_short	Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles
title_full	Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles
title_fullStr	Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles
title_full_unstemmed	Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles
title_sort	motion planning solution with constraints based on minimum distance model for lane change problem of autonomous vehicles
publisher	Mathematical Modelling of Engineering Problems (MMEP)
publishDate	2022
url	https://doi.org/10.18280/mmep.090131 http://elib.vku.udn.vn/handle/123456789/2150
_version_	1849197430470344704

Motion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles

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