文章基本信息

标题：Coordinated lane change in autonomous driving: a computationally aware solution
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作者：Alessandro Falsone ; Basak Sakcak ; Maria Prandini 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15211-15216
DOI：10.1016/j.ifacol.2020.12.2302
语种：English
出版社：Elsevier
摘要：AbstractThis paper addresses the design of coordinated maneuvers in an autonomous driving set-up involving multiple vehicles. In particular, we consider a lane change problem where a vehicle has to merge in a platoon traveling in the adjacent lane of a two-lane one way road. We propose a cooperative solution that trades optimality for computational feasibility without simplifying the merging vehicle dynamics. The key idea is decoupling the problem into two phases: an online coordination phase where vehicles in the platoon create a gap where the merging vehicle can safely enter, and a merging phase, where the merging vehicle change lane by tracking a pre-computed optimal maneuver. A numerical case study shows the achieved trade off between performance degradation and reduction in computing time of the proposed solution.
关键词：KeywordsAutomatedconnected vehiclescoordinated maneuverlane change