Open AccessVirtual trajectory model for lane changing of a vehicle on curved road with variable curvature
Author(s) -
Dianbo Ren,
Jingming Zhang,
Cong Wang
Publication year - 2014
Publication title -
wuli xuebao
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.199
H-Index - 47
ISSN - 1000-3290
DOI - 10.7498/aps.63.078902
Subject(s) - centripetal force , trajectory , curvature , displacement (psychology) , polynomial , angular velocity , boundary (topology) , variable (mathematics) , computer science , circular motion , motion (physics) , angular displacement , geometry , control theory (sociology) , mathematics , physics , mathematical analysis , classical mechanics , computer vision , artificial intelligence , astronomy , psychology , control (management) , psychotherapist
In this paper, a virtual trajectory planning method for vehicle lane changing in automated highway system is studied, and a trajectory model for lane changing on variable curvature road is established with odd-order polynomial constraints. Assuming that the starting lane and the target lane have the same instantaneous center, the motion for lane changing of vehicle on the curved road can be decomposed into a linear centripetal motion and a circular motion around the instantaneous centre of the curved road. If the centripetal motion displacement and the rotational angular displacement meet the requirement of odd-order polynomial constraints, the boundary condition of the above two kinds of motion may be obtained from the constraints, such as time, location, and desired state of vehicle at the start and end of the lane changing behavior. By applying the boundary conditions, the polynomial coefficient is deduced, and the mathematical model of virtual trajectory for lane changing can be designed based on the polynomial models of centripetal displacement and angular displacement. Compared with the existing trajectory planning method for lane changing on curved road, the curvature change has been taken into consideration, and the trajectory model for lane changing has been generalized. Simulation results verify the feasibility of the trajectory planning method proposed in this paper for lane changing on a curved road with variable curvature.