Open AccessMotion Planning Solution with Constraints Based on Minimum Distance Model for Lane Change Problem of Autonomous Vehicles
Author(s) -
Quach Hai Tho,
Huỳnh Công Pháp,
Phạm Anh Phương
Publication year - 2022
Publication title -
mathematical modelling and engineering problems/mathematical modelling of engineering problems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.26
H-Index - 11
eISSN - 2369-0747
pISSN - 2369-0739
DOI - 10.18280/mmep.090131
Subject(s) - jerk , motion planning , acceleration , computer science , trajectory , constraint (computer aided design) , motion (physics) , path (computing) , process (computing) , set (abstract data type) , matlab , control theory (sociology) , collision avoidance , nonlinear system , simulation , control engineering , collision , control (management) , robot , engineering , artificial intelligence , mechanical engineering , physics , computer security , classical mechanics , astronomy , programming language , operating system , quantum mechanics
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.