TY  - JOUR
PY  - 2019//
TI  - A non-cooperative vehicle-to-vehicle trajectory-planning algorithm with consideration of driver's characteristics
JO  - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of automobile engineering
A1  - Zhang, Kuoran
A1  - Wang, Jinxiang
A1  - Chen, Nan
A1  - Yin, Guodong
SP  - 2405
EP  - 2420
VL  - 233
IS  - 10
N2  - This paper presents a non-cooperative vehicle-to-vehicle trajectory-planning algorithm with consideration of the characteristics of different drivers. The driver-vehicle model considering vehicle dynamics and characteristics of the drivers is used to formulate a vehicle-to-vehicle encountering system. A non-cooperative control algorithm considering each of the driver-vehicle system as a player is employed to plan collision-free trajectories for the encountering vehicles with respective initial driving intentions. The non-cooperative problem is solved with the theory of Nash equilibrium and is ultimately converted to a standard nonlinear Model Predictive Control problem. Simulations are conducted in the scenarios of the lane-exchanging and overtaking with different initial vehicle speeds to verify the effectiveness of the proposed algorithm. <br><br>RESULTS show that the algorithm can accomplish the trajectory-planning task with consideration of both the safety requirement and the characteristics of drivers. The simulation results also show that the proposed algorithm has effectiveness for trajectory planning in different vehicle-to-vehicle encountering scenarios.<p />  <p>Language: en</p>
LA  - en
SN  - 0954-4070
UR  - http://dx.doi.org/10.1177/0954407018783394
ID  - ref1
ER  -