Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 70, Issue 7, Pages 6399-6414Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2021.3083268
Keywords
Vehicles; Trajectory planning; Psychology; Environmental factors; Roads; Trajectory; Vehicle dynamics; Intelligent vehicle; personalized human-like automated driving; lane-changing trajectory planning; driving behavior
Categories
Funding
- Science and Technology Project of Jilin Provincial Department of Education [51575223]
- [JJKH20200963KJ]
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This article introduces a human-like automated lane-changing system that takes into account personalized factors and traffic environmental factors to derive a personalized human-like lane-changing trajectory planning model. The combination of longitudinal and lateral models in the system aims to achieve a more realistic lane-changing operation.
This article describes a human-like automated lane-changing system to mimic the lane-changing maneuver of human drivers in order to make automated vehicles more realistic. In this system, both the personalized factors of human drivers and the traffic environmental factors are considered to derive a personalized human-like lane-changing trajectory planning model, which includes a longitudinal driving behavior model and a lateral lane-changing trajectory planning model. The longitudinal model is derived based on the traffic environment information to predict the longitudinal speed of human-driven vehicles in the lane-changing processes, and also to analyze the longitudinal driving habits of drivers in different driving scenarios. The lateral model plans a suitable lateral lane-changing trajectory preferred by the driver. The personalized parameters of the longitudinal and lateral models are calibrated by the driving data with multi-dimensional time series regression method. The simulation results show that the proposed method can well realize the human-like and personalized lane-changing trajectory planning.
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