TY  - JOUR
PY  - 2023//
TI  - Mandatory lane-changing decision making and planning in emergency situations
JO  - Transportation safety and environment
A1  - Liu, Yang
A1  - Shi, Congling
SP  - tdac041
EP  - tdac041
VL  - 5
IS  - 1
N2  - By considering mandatory lane-changing as a collision avoidance measure, this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario. Different from the traditional algorithm in which lane-change decision making and trajectory planning are separated, they are here coupled in a proposed algorithm and the related parameters are dynamically adjusted in the whole process. In addition to lane-change collision avoidance feasibility analysis, lane-change time instance and duration time are obtained by solving the constrained convex quadratic optimization programme. By taking lane-change time instance and duration time as inputs, the algorithm then proceeded to propose a kinematic model-based high-order polynomial lane change trajectory. By giving the simulation result compassion with the related algorithm, it is proved that the proposed algorithm has a good robustness and high efficiency.<p />  <p>Language: en</p>
LA  - en
SN  - 2631-4428
UR  - http://dx.doi.org/10.1093/tse/tdac041
ID  - ref1
ER  -