Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles  

作　　者：Wen Hu Zejian Deng Dongpu Cao Bangji Zhang Amir Khajepour Lei Zeng Yang Wu 

机构地区：[1]State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China [2]Department of Mechanical and Mechatronics Engineering,University of Waterloo,Waterloo ON N2L3G1,Canada [3]IEEE [4]School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第12期2161-2173,共13页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(5187051675);。

摘　　要：To improve the safety and driving stability of the autonomous heavy truck, it is necessary to consider the differences of driving behavior and drivable trajectories between the heavy trucks and passenger cars. This study proposes a probabilistic decision-making and trajectory planning framework for the autonomous heavy trucks. Firstly, the driving decision process is divided into intention generation and feasibility evaluations, which are realized using the utility theory and risk assessment, respectively. Subsequently the driving decision is made and sent to the trajectory planning module. In order to reflect the greater risks of the truck to other surrounding vehicles, the aggressiveness index(AI) is proposed and quantified to infer the asymmetrical risk level of lane-change maneuver. In the planning stage, the lateral and roll dynamics stability domains are developed as the constraints to exclude the candidate trajectories that would cause vehicle instability. Finally, the simulation results are compared between the proposed model and the artificial potential filed model in the scenarios extracted from the naturalistic driving data. It is shown that the proposed framework can provide the human-like lane-change decisions and truck-friendly trajectories, and performs well in dynamic driving environments.

关 键 词：Autonomous heavy truck DECISION-MAKING driving aggressiveness risk assessment trajectory planning 

分 类 号：U463.6[机械工程—车辆工程] O225[交通运输工程—载运工具运用工程]