The paper proposes a model of mandatory lane-changing behaviour based on a non-cooperative game in a traditional environment and analyses its applicability in a connected environment.In order to solve the problem of t...The paper proposes a model of mandatory lane-changing behaviour based on a non-cooperative game in a traditional environment and analyses its applicability in a connected environment.In order to solve the problem of traffic safety and traffic congestion caused by mandatory lane-changing on urban roads,this paper applies the non-cooperative game theory to describe the game behaviour of the two parties,the lane-changing vehicle and the vehicle behind the target lane,in the connected and traditional environments respectively,and constructs the model considering the safety gain,speed gain and lane-changing gain to obtain a game model and the Nash equilibrium solution.Themodel is calibrated and tested using NGSIM data,and the results of the study show that themodel has a good performance for the decision behaviour of lane-changing vehicles and lag vehicles for mandatory lane-changing behaviour on urban roads.展开更多
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 t...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,lanechange 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 highorder 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.展开更多
This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments.A fifth-degree polynomial is employed to generate a set...This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments.A fifth-degree polynomial is employed to generate a set of potential lane-changing trajectories in the Frenet coordinate system.These trajectories are evaluated using non-cooperative game theory,considering the interaction between the target vehicle and its surroundings.Models considering safety payoffs,speed payoffs,comfort payoffs,and aggressiveness are formulated to obtain a Nash equilibrium solution.This way,collision avoidance is ensured,and an optimal lane change trajectory is planned.Three game scenarios are discussed,and the optimal trajectories obtained are compared using the NGSIM dataset.Comparison of trajectory tracking effects by themodel predictive control(MPC)and linear quadratic regulator(LQR).Finally,the left lane change,right lane change,and abort lane change operations are verified in the autonomous driving simulation platform.Simulation and experimental results show that the strategy can plan appropriate lane change trajectory and accomplish tracking in complex environments.展开更多
To improve the ride comfort and safety of a traditional adaptive cruise control(ACC)system when the preceding vehicle changes lanes,it proposes a target vehicle selection algorithm based on the prediction of the lane-...To improve the ride comfort and safety of a traditional adaptive cruise control(ACC)system when the preceding vehicle changes lanes,it proposes a target vehicle selection algorithm based on the prediction of the lane-changing intention for the preceding vehicle.First,the Next Generation Simulation dataset is used to train a lane-changing intention prediction algorithm based on a sliding window support vector machine,and the lane-changing intention of the preceding vehicle in the current lane is identified by lateral position offset.Second,according to the lane-changing intention and collision threat of the preceding vehicle,the target vehicle selection algorithm is studied under three different conditions:safe lane-changing,dangerous lane-changing,and lane-changing cancellation.Finally,the effectiveness of the proposed algorithm is verified in a co-simulation platform.The simulation results show that the target vehicle selection algorithm can ensure the smooth transfer of the target vehicle and effectively reduce the longitudinal acceleration fluctuation of the subject vehicle when the preceding vehicle changes lanes safely or cancels their lane change maneuver.In the case of a dangerous lane change,the target vehicle selection algorithm proposed in this paper can respond more rapidly to a dangerous lane change than the target vehicle selection method of the traditional ACC system;thus,it can effectively avoid collisions and improve the safety of the subject vehicle.展开更多
In this paper, a new continuum traffic flow model is proposed, with a lane-changing source term in the continuity equation and a lane-changing viscosity term in the acceleration equation. Based on previous literature,...In this paper, a new continuum traffic flow model is proposed, with a lane-changing source term in the continuity equation and a lane-changing viscosity term in the acceleration equation. Based on previous literature, the source term addresses the impact of speed difference and density difference between adjacent lanes, which provides better precision for free lane-changing simulation; the viscosity term turns lane-changing behavior to a ＂force＂ that may influence speed distribution. Using a flux-splitting scheme for the model discretization, two cases are investigated numerically. The case under a homogeneous initial condition shows that the numerical results by our model agree well with the analytical ones; the case with a small initial disturbance shows that our model can simulate the evolution of perturbation, including propagation,dissipation, cluster effect and stop-and-go phenomenon.展开更多
In the field of traffic flow studies, compulsive lane-changing refers to lane-changing （LC） behaviors due to traffic rules or bad road conditions, while free LC happens when drivers change lanes to drive on a faster...In the field of traffic flow studies, compulsive lane-changing refers to lane-changing （LC） behaviors due to traffic rules or bad road conditions, while free LC happens when drivers change lanes to drive on a faster or less crowded lane. LC studies based on differential equation models accurately reveal LC influence on traffic environment. This paper presents a second-order partial differential equation （PDE） model that simulates both compulsive LC behavior and free LC behavior, with lane-changing source terms in the continuity equation and a lane-changing viscosity term in the momentum equation. A specific form of this model focusing on a typical compulsive LC behavior, the ＇off-ramp problem＇, is derived. Numerical simulations are given in several cases, which are consistent with real traffic phenomenon.展开更多
In order to increase the accuracy of microscopic traffic flow simulation,two acceleration models are presented to simulate car-following behaviors of the lane-changing vehicle and following putative vehicle during the...In order to increase the accuracy of microscopic traffic flow simulation,two acceleration models are presented to simulate car-following behaviors of the lane-changing vehicle and following putative vehicle during the discretionary lanechanging preparation( DLCP) process, respectively. The proposed acceleration models can reflect vehicle interaction characteristics. Samples used for describing the starting point and the ending point of DLCP are extracted from a real NGSIM vehicle trajectory data set. The acceleration model for a lanechanging vehicle is supposed to be a linear acceleration model.The acceleration model for the following putative vehicle is constructed by referring to the optimal velocity model,in which optimal velocity is defined as a linear function of the velocity of putative leading vehicle. Similar calibration,a hypothesis test and parameter sensitivity analysis were conducted on the acceleration model of the lane-changing vehicle and following putative vehicle,respectively. The validation results of the two proposed models suggest that the training and testing errors are acceptable compared with similar works on calibrations for car following models. The parameter sensitivity analysis shows that the subtle observed error does not lead to severe variations of car-following behaviors of the lane-changing vehicle and following putative vehicle.展开更多
In this paper, we use the car-following model with the anticipation effect of the potential lane-changing probability （Acta Mech. Sin. 24 （2008） 399） to investigate the effects of the potential lane-changing proba...In this paper, we use the car-following model with the anticipation effect of the potential lane-changing probability （Acta Mech. Sin. 24 （2008） 399） to investigate the effects of the potential lane-changing probability on uniform flow. The analytical and numerical results show that the potential lane-changing probability can enhance the speed and flow of uniform flow and that their increments are related to the density.展开更多
State Administration for Market Regulation and National Standardization Administration of China have approved the following 34 mandatory national standards.
基金Natural science foundation of Heilongjiang Province of China(Grant No.LH2020G002)Jilin Province science and technology development project(Grant No.20210203214SF).
文摘The paper proposes a model of mandatory lane-changing behaviour based on a non-cooperative game in a traditional environment and analyses its applicability in a connected environment.In order to solve the problem of traffic safety and traffic congestion caused by mandatory lane-changing on urban roads,this paper applies the non-cooperative game theory to describe the game behaviour of the two parties,the lane-changing vehicle and the vehicle behind the target lane,in the connected and traditional environments respectively,and constructs the model considering the safety gain,speed gain and lane-changing gain to obtain a game model and the Nash equilibrium solution.Themodel is calibrated and tested using NGSIM data,and the results of the study show that themodel has a good performance for the decision behaviour of lane-changing vehicles and lag vehicles for mandatory lane-changing behaviour on urban roads.
文摘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,lanechange 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 highorder 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.
基金supported by the Science and Technology Program of Shandong Higher Education Institutions(Grant J18KA048).
文摘This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments.A fifth-degree polynomial is employed to generate a set of potential lane-changing trajectories in the Frenet coordinate system.These trajectories are evaluated using non-cooperative game theory,considering the interaction between the target vehicle and its surroundings.Models considering safety payoffs,speed payoffs,comfort payoffs,and aggressiveness are formulated to obtain a Nash equilibrium solution.This way,collision avoidance is ensured,and an optimal lane change trajectory is planned.Three game scenarios are discussed,and the optimal trajectories obtained are compared using the NGSIM dataset.Comparison of trajectory tracking effects by themodel predictive control(MPC)and linear quadratic regulator(LQR).Finally,the left lane change,right lane change,and abort lane change operations are verified in the autonomous driving simulation platform.Simulation and experimental results show that the strategy can plan appropriate lane change trajectory and accomplish tracking in complex environments.
基金Supported by National Key Research and Development Program(Grant No.2017YFB0102601)National Natural Science Foundation of China(Grant Nos.51775236,U1564214).
文摘To improve the ride comfort and safety of a traditional adaptive cruise control(ACC)system when the preceding vehicle changes lanes,it proposes a target vehicle selection algorithm based on the prediction of the lane-changing intention for the preceding vehicle.First,the Next Generation Simulation dataset is used to train a lane-changing intention prediction algorithm based on a sliding window support vector machine,and the lane-changing intention of the preceding vehicle in the current lane is identified by lateral position offset.Second,according to the lane-changing intention and collision threat of the preceding vehicle,the target vehicle selection algorithm is studied under three different conditions:safe lane-changing,dangerous lane-changing,and lane-changing cancellation.Finally,the effectiveness of the proposed algorithm is verified in a co-simulation platform.The simulation results show that the target vehicle selection algorithm can ensure the smooth transfer of the target vehicle and effectively reduce the longitudinal acceleration fluctuation of the subject vehicle when the preceding vehicle changes lanes safely or cancels their lane change maneuver.In the case of a dangerous lane change,the target vehicle selection algorithm proposed in this paper can respond more rapidly to a dangerous lane change than the target vehicle selection method of the traditional ACC system;thus,it can effectively avoid collisions and improve the safety of the subject vehicle.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11002035 and 11372147)Hui-Chun Chin and Tsung-Dao Lee Chinese Undergraduate Research Endowment(Grant No.CURE 14024)
文摘In this paper, a new continuum traffic flow model is proposed, with a lane-changing source term in the continuity equation and a lane-changing viscosity term in the acceleration equation. Based on previous literature, the source term addresses the impact of speed difference and density difference between adjacent lanes, which provides better precision for free lane-changing simulation; the viscosity term turns lane-changing behavior to a ＂force＂ that may influence speed distribution. Using a flux-splitting scheme for the model discretization, two cases are investigated numerically. The case under a homogeneous initial condition shows that the numerical results by our model agree well with the analytical ones; the case with a small initial disturbance shows that our model can simulate the evolution of perturbation, including propagation,dissipation, cluster effect and stop-and-go phenomenon.
基金supported by the National Natural Science Foundation of China(Grant Nos.11002035 and 11372147)
文摘In the field of traffic flow studies, compulsive lane-changing refers to lane-changing （LC） behaviors due to traffic rules or bad road conditions, while free LC happens when drivers change lanes to drive on a faster or less crowded lane. LC studies based on differential equation models accurately reveal LC influence on traffic environment. This paper presents a second-order partial differential equation （PDE） model that simulates both compulsive LC behavior and free LC behavior, with lane-changing source terms in the continuity equation and a lane-changing viscosity term in the momentum equation. A specific form of this model focusing on a typical compulsive LC behavior, the ＇off-ramp problem＇, is derived. Numerical simulations are given in several cases, which are consistent with real traffic phenomenon.
基金The National Basic Research Program of China(No.2012CB725405)the National Natural Science Foundation of China(No.51308115)+1 种基金the Science and Technology Demonstration Project of Ministry of Transport of China(No.2015364X16030)Fundamental Research Funds for the Central Universities,the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.KYLX15_0153)
文摘In order to increase the accuracy of microscopic traffic flow simulation,two acceleration models are presented to simulate car-following behaviors of the lane-changing vehicle and following putative vehicle during the discretionary lanechanging preparation( DLCP) process, respectively. The proposed acceleration models can reflect vehicle interaction characteristics. Samples used for describing the starting point and the ending point of DLCP are extracted from a real NGSIM vehicle trajectory data set. The acceleration model for a lanechanging vehicle is supposed to be a linear acceleration model.The acceleration model for the following putative vehicle is constructed by referring to the optimal velocity model,in which optimal velocity is defined as a linear function of the velocity of putative leading vehicle. Similar calibration,a hypothesis test and parameter sensitivity analysis were conducted on the acceleration model of the lane-changing vehicle and following putative vehicle,respectively. The validation results of the two proposed models suggest that the training and testing errors are acceptable compared with similar works on calibrations for car following models. The parameter sensitivity analysis shows that the subtle observed error does not lead to severe variations of car-following behaviors of the lane-changing vehicle and following putative vehicle.
基金Supported by the Program for New Century Excellent Talents in University under Grant No.NCET-08-0038the National Natural Science Foundation of China under Grant Nos.70701002,70971007,and 70521001 the National Basic Research Program of China under Grant No.2006CB705503
文摘In this paper, we use the car-following model with the anticipation effect of the potential lane-changing probability （Acta Mech. Sin. 24 （2008） 399） to investigate the effects of the potential lane-changing probability on uniform flow. The analytical and numerical results show that the potential lane-changing probability can enhance the speed and flow of uniform flow and that their increments are related to the density.
文摘State Administration for Market Regulation and National Standardization Administration of China have approved the following 34 mandatory national standards.
