Lane-change path planning and control method for self-driving articulated trucks  

作　　者：Tao Peng Xingliang Liu Rui Fang Ronghui Zhang Yanwei Pang Tao Wang Yike Tong 

机构地区：[1]School of Electrical and Information Engineering,Tianjin University,Tianjin,China [2]Joint Laboratory for Internet of Vehicles,Ministry of Education-China Mobile Communications Corporation,Beijing,China [3]China Automotive Technology and Research Center Co.Ltd.,Tianjin,China [4]Guangdong Key Laboratory of Intelligent Transportation System,School of Intelligent Systems Engineering,Sun Yat-sen University,Zhuhai,China [5]Tianjin University of Technology and Education,Tianjin,China [6]Zhejiang University of Technology,Hangzhou,China

出　　处：《Journal of Intelligent and Connected Vehicles》2020年第2期49-66,共18页智能网联汽车（英文）

摘　　要：Purpose–This study aims to develop an automatic lane-change mechanism on highways for self-driving articulated trucks to improve traffic safety.Design/methodology/approach–The authors proposed a novel safety lane-change path planning and tracking control method for articulated vehicles.A double-Gaussian distribution was introduced to deduce the lane-change trajectories of tractor and trailer coupling characteristics of intelligent vehicles and roads.With different steering and braking maneuvers,minimum safe distances were modeled and calculated.Considering safety and ergonomics,the authors invested multilevel self-driving modes that serve as the basis of decision-making for vehicle lane-change.Furthermore,a combined controller was designed by feedback linearization and single-point preview optimization to ensure the path tracking and robust stability.Specialized hardware in the loop simulation platform was built to verify the effectiveness of the designed method.Findings–The numerical simulation results demonstrated the path-planning model feasibility and controller-combined decision mechanism effectiveness to self-driving trucks.The proposed trajectory model could provide safety lane-change path planning,and the designed controller could ensure good tracking and robust stability for the closed-loop nonlinear system.Originality/value–This is a fundamental research of intelligent local path planning and automatic control for articulated vehicles.There are two main contributions:thefirst is a more quantifiable trajectory model for self-driving articulated vehicles,which provides the opportunity to adapt vehicle and scene changes.The second involves designing a feedback linearization controller,combined with a multi-objective decision-making mode,to improve the comprehensive performance of intelligent vehicles.This study provides a valuable reference to develop advanced driving assistant system and intelligent control systems for self-driving articulated vehicles.

关 键 词：Feedback linearization Combined controller Double Gaussian distribution Lane-change path planning Preview optimization Self-driving articulated truck 

分 类 号：TP1[自动化与计算机技术—控制理论与控制工程]