- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | XU Ting, DENG Kailong, LIU Yongtao, ZHAO Lei, ZHANG Zhishun, FAN Na, MA Jinfeng, CHEN Shuyi. Different Styles of Lane Changing Trajectory Planning Based on Aerial Survey Data[J]. Journal of Southwest Jiaotong University, 2024, 59(3): 720-728. doi: 10.3969/j.issn.0258-2724.20230392
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Improper lane-changing may pose a threat to traffic safety, leading to traffic accidents and congestion. Therefore, it is necessary to explore lane-changing trajectories for different driving styles at lane exits. The trajectory data of vehicles from congested scenarios on Chinese highways and expressways was utilized, and drivers were categorized into cautious, normal, and aggressive types by using the K-means algorithm. According to cluster analysis and lane-changing time prediction, the minimum sum of lane-changing longitudinal displacement and weighted driving stability was pursued, and comfort and safety evaluation metrics were employed as constraints. A quintic polynomial was utilized for optimal lane-changing trajectory planning. Then, a genetic algorithm was employed to solve the trajectory planning problem. Based on the simulation platform comprising Prescan, CarSim, and MATLAB/Simulink, a two-degree-of-freedom vehicle dynamics model of joint longitudinal and lateral control was designed. Finally, three typical lane-changing scenarios, including the car in front of the vehicle, the car in front of the target lane, and the car behind the target lane were designed. The effects of lane-changing trajectory planning and vehicle trajectory tracking control under different driving styles were evaluated by simulation experiments. The experimental findings demonstrate that the proposed trajectory planning algorithm, incorporating driving styles, extends the lane-changing time for aggressive drivers in scenarios with vehicles in the target lane. In addition, it reduces the lane-changing time for normal and cautious drivers, ensuring timely, safe, and comfortable lane-changing maneuvers.
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