Lane Change Path Planning in Emergency Situation Based on Skilled Driver's Performance

Document Type : Research Article

Authors

1 PhD Student, Department of Mechanical Engineering, Advanced Vehicle Control System Laboratory (avcs-lab), Faculty of Mechanical Engineering, K.N. Toosi University of Ttechnology, Tehran, Iran,

2 Professor, Department of Mechanical Engineering, Advanced Vehicle Control System Laboratory (avcs-lab), Faculty of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran,

Abstract

Lane Change at high speeds is a strategic maneuver to avoid the collision. In this situation, The time of an accident possibility is mainly less than two seconds. therefore, finding the proper trajectory and control of the vehicle is crucial at the lowest cost. In this paper, based on a skilled driver’s performance in a similar situation, a proper path and corresponding appropriate control system was designed aiming at vehicle stability preserving and collision avoidance. To this purpose, possible paths were simulated and identified using the vehicle's seven degrees of freedom model and applying the driver’s behavior. A neural network system was trained; then, the trajectory was chosen. A hybrid controller was hired for the vehicle navigation, consisting of the driver's performance pattern with a covering neural network and two proportional derivative controllers. The Novelties of this method are the simultaneous design of a stable path while maintaining geometric constraints and the low computational burden of the path planning and control system. The results show that the highest neural network error is about 11%. Also, the control system has been able to steer the vehicle and follow the trajectory with 40cm maximum lateral displacement error in the speed and road friction different conditions.

Keywords

Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 54, Issue 2
May 2022
Pages 269-288

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