{"title":"A Novel Flexible Lane Changing (FLC) Method in Complicated Dynamic Environment for Automated Vehicles","authors":"M. Rafat, S. Azadi","doi":"10.22055/JACM.2021.36276.2818","DOIUrl":null,"url":null,"abstract":"Decision making and path planning in case of highly transient dynamics of the surrounding as well as the effect of road condition are the issues that are not completely solved in the previous researches. The goal is to perform a safe and comfortable lane change that includes flexible re-planning capabilities. In this paper, a novel structure for path planning and decision making part of a vehicle automatic lane change has been introduced which comprehensively considers both longitudinal and lateral dynamics of the vehicle. The presented method is able to perform re-planning even in the middle of a lane change maneuver according to new traffic condition. Inclusion of the dynamics of all involved vehicles and providing online performance are the other advantages of the proposed system. The algorithm is simulated and various scenarios are constructed to evaluate the efficiency of the system. The results show that the system has completely acceptable performance.","PeriodicalId":37801,"journal":{"name":"Applied and Computational Mechanics","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Applied and Computational Mechanics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.22055/JACM.2021.36276.2818","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Chemical Engineering","Score":null,"Total":0}
引用次数: 1
Abstract
Decision making and path planning in case of highly transient dynamics of the surrounding as well as the effect of road condition are the issues that are not completely solved in the previous researches. The goal is to perform a safe and comfortable lane change that includes flexible re-planning capabilities. In this paper, a novel structure for path planning and decision making part of a vehicle automatic lane change has been introduced which comprehensively considers both longitudinal and lateral dynamics of the vehicle. The presented method is able to perform re-planning even in the middle of a lane change maneuver according to new traffic condition. Inclusion of the dynamics of all involved vehicles and providing online performance are the other advantages of the proposed system. The algorithm is simulated and various scenarios are constructed to evaluate the efficiency of the system. The results show that the system has completely acceptable performance.
期刊介绍：
The ACM journal covers a broad spectrum of topics in all fields of applied and computational mechanics with special emphasis on mathematical modelling and numerical simulations with experimental support, if relevant. Our audience is the international scientific community, academics as well as engineers interested in such disciplines. Original research papers falling into the following areas are considered for possible publication: solid mechanics, mechanics of materials, thermodynamics, biomechanics and mechanobiology, fluid-structure interaction, dynamics of multibody systems, mechatronics, vibrations and waves, reliability and durability of structures, structural damage and fracture mechanics, heterogenous media and multiscale problems, structural mechanics, experimental methods in mechanics. This list is neither exhaustive nor fixed.
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