scholarly journals Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Tao Peng ◽  
Zhiwei Guan ◽  
Ronghui Zhang ◽  
Jinsong Dong ◽  
Kening Li ◽  
...  
Keyword(s):  
Traffic Safety ◽  
Feedback Linearization ◽  
Oscillatory Behavior ◽  
Lane Change ◽  
Lane Changing ◽  
Lane Changes ◽  
Rainy Weather ◽  
Matrix Eigenvalues ◽  
Vehicle Test ◽  
And Control

A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system.

scholarly journals Goal Estimation of Mandatory Lane Changes Based on Interaction between Drivers

2020 ◽  
Vol 10 (9) ◽  
pp. 3289
Author(s):  
Hanwool Woo ◽  
Mizuki Sugimoto ◽  
Hirokazu Madokoro ◽  
Kazuhito Sato ◽  
Yusuke Tamura ◽  
...  
Keyword(s):  
Warning System ◽  
Autonomous Driving ◽  
Field Method ◽  
Lane Change ◽  
Driver Assistance ◽  
Driver Assistance Systems ◽  
Lane Changing ◽  
Lane Changes ◽  
Dynamic Potential ◽  
Novel Method

In this paper, we propose a novel method to estimate a goal of surround vehicles to perform a lane change at a merging section. Recently, autonomous driving and advance driver-assistance systems are attracting great attention as a solution to substitute human drivers and to decrease accident rates. For example, a warning system to alert a lane change performed by surrounding vehicles to the front space of the host vehicle can be considered. If it is possible to forecast the intention of the interrupting vehicle in advance, the host driver can easily respond to the lane change with sufficient reaction time. This paper assumes a mandatory situation where two lanes are merged. The proposed method assesses the interaction between the lane-changing vehicle and the host vehicle on the mainstream lane. Then, the lane-change goal is estimated based on the interaction under the assumption that the lane-changing driver decides to minimize the collision risk. The proposed method applies the dynamic potential field method, which changes the distribution according to the relative speed and distance between two subject vehicles, to assess the interaction. The performance of goal estimation is evaluated using real traffic data, and it is demonstrated that the estimation can be successfully performed by the proposed method.

Characterizing Lane Changes via Digitized Infrastructure and Low-Cost GPS

2019 ◽  
Vol 2673 (8) ◽  
pp. 298-309 ◽  
Author(s):  
Ishtiak Ahmed ◽  
Alan Karr ◽  
Nagui M. Rouphail ◽  
Gyounghoon Chun ◽  
Shams Tanvir
Keyword(s):  
Autonomous Vehicles ◽  
Lateral Displacement ◽  
Low Cost ◽  
Detection Algorithm ◽  
Lane Change ◽  
Trajectory Data ◽  
Lane Changing ◽  
Lane Changes ◽  
Detection Systems ◽  
Level Information

With the expected increase in the availability of trajectory-level information from connected and autonomous vehicles, issues of lane changing behavior that were difficult to assess with traditional freeway detection systems can now begin to be addressed. This study presents the development and application of a lane change detection algorithm that uses trajectory data from a low-cost GPS-equipped fleet, supplemented with digitized lane markings. The proposed algorithm minimizes the effect of GPS errors by constraining the temporal duration and lateral displacement of a lane change detected using preliminary lane positioning. The algorithm was applied to 637 naturalistic trajectories traversing a long weaving segment and validated through a series of controlled lane change experiments. Analysis of naturalistic trajectory data revealed that ramp-to-freeway trips had the highest number of discretionary lane changes in excess of 1 lane change/vehicle. Overall, excessive lane change rates were highest between the two middle freeway lanes at 0.86 lane changes/vehicle. These results indicate that extreme lane changing behavior may significantly contribute to the peak-hour congestion at the site. The average lateral speed during lane change was 2.7 fps, consistent with the literature, with several freeway–freeway and ramp–ramp trajectories showing speeds up to 7.7 fps. All ramp-to-freeway vehicles executed their first mandatory lane change within 62.5% of the total weaving length, although other weaving lane changes were spread over the entire segment. These findings can be useful for implementing strategies to lessen abrupt and excessive lane changes through better lane pre-positioning.

Eye Glance Behavior during Lane Changes and Straight-Ahead Driving

2005 ◽  
Vol 1937 (1) ◽  
pp. 44-50 ◽  
Author(s):  
Erik C. B. Olsen ◽  
Suzanne E. Lee ◽  
Walter W. Wierwille
Keyword(s):  
Collision Avoidance ◽  
Blind Spot ◽  
Development Effort ◽  
Lane Change ◽  
Lane Changing ◽  
Lane Changes ◽  
Visual Presence ◽  
Safety And Reliability ◽  
Rearview Mirror ◽  
Straight Ahead

Understanding drivers’ eye behavior before lane changing is an important aspect of designing usable, safe lane-change collision-avoidance systems (LCAS) that will fit well with drivers’ expectations. This understanding could lead to improvements for LCAS as well as for a variety of other collision avoidance systems. Findings regarding driver eye glance behaviors are presented in a comparison of lane change maneuvers with straight-ahead (baseline) driving events. Specific eye glance patterns before lane change initiation were observed. When preparing to make a lane change to the left as compared with driving straight ahead, drivers doubled the number of glances toward the rearview mirror and were much more likely to look at other locations associated with moving to the left, including the left mirror and blind spot. On the basis of the eye glance patterns observed and previous results, the following recommendations are made: ( a) visual presence detection indicator displays should be used to provide information about vehicles in the rear adjacent lane any time a vehicle is detected, ( b) a presence indicator should be presented in a visual format, and ( c) the left mirror and rearview mirror locations should be considered for providing lane change information to the driver. The process of acquiring and analyzing eye glance movements is well worth the investment in resources. However, prototype systems must be tested before implementation, and the exact location and format of warning systems warrant a separate research and development effort to ensure safety and reliability.

scholarly journals Calculation Model of Preposition Distance of Electronic Toll Collection Signs Based on Lane Changing Behavior

2020 ◽  
Vol 325 ◽  
pp. 01003
Author(s):  
Hao Zhang ◽  
Changjian Zhang ◽  
Ying Zhang ◽  
Jinhang Ma ◽  
Jie He ◽  
...  
Keyword(s):  
Traffic Safety ◽  
Calculation Model ◽  
Lane Change ◽  
Safe Distance ◽  
Lane Changing ◽  
Toll Collection ◽  
Definition Of ◽  
Toll Station ◽  
Reading Distance

ETC and MTC lanes of China’s hybrid toll stations have various setting modes. When the vehicles passed through the toll stations, they would face a more complicated lane change process. If the ETC sign was set in the appropriate position in advance, the traffic safety in front of the toll stations would be effectively improved. The paper analyzed the process of lane change in 18 scenes by taking one-way three-lane highway at the upstream of toll station with six lanes as an example. Based on the definition of driver’s reaction distance, reading distance and safe distance of action, the theoretical calculation model of ETC sign preposition distance was established. It revealed the functional relationship between ETC lane layout schemes and sign preposition distance, and explored the reasonable setting position of the ETC sign in the full scenes of the lane layout. Finally, a case study of Nanjing toll station on Shanghai-Nanjing Expressway was carried out.

Modeling Integrated Lane-Changing Behavior

2003 ◽  
Vol 1857 (1) ◽  
pp. 30-38 ◽  
Author(s):  
Tomer Toledo ◽  
Haris N. Koutsopoulos ◽  
Moshe E. Ben-Akiva
Keyword(s):  
Empirical Work ◽  
Flow Characteristics ◽  
Lane Change ◽  
Trajectory Data ◽  
Lane Changing ◽  
Simulation Tools ◽  
Lane Changes ◽  
Trade Offs ◽  
Safety Studies ◽  
Vehicle Trajectory

The lane-changing model is an important component within microscopic traffic simulation tools. Following the emergence of these tools in recent years, interest in the development of more reliable lane-changing models has increased. Lane-changing behavior is also important in several other applications such as capacity analysis and safety studies. Lane-changing behavior is usually modeled in two steps: ( a) the decision to consider a lane change, and ( b) the decision to execute the lane change. In most models, lane changes are classified as either mandatory (MLC) or discretionary (DLC). MLC are performed when the driver must leave the current lane. DLC are performed to improve driving conditions. Gap acceptance models are used to model the execution of lane changes. The classification of lane changes as either mandatory or discretionary prohibits capturing trade-offs between these considerations. The result is a rigid behavioral structure that does not permit, for example, overtaking when mandatory considerations are active. Using these models within a microsimulator may result in unrealistic traffic flow characteristics. In addition, little empirical work has been done to rigorously estimate the parameters of lane-changing models. An integrated lane-changing model, which allows drivers to jointly consider mandatory and discretionary considerations, is presented. Parameters of the model are estimated with detailed vehicle trajectory data.

Reliability-Based Assessment of Potential Risk for Lane-Changing Maneuvers

2021 ◽  
pp. 036119812110108
Author(s):  
Yang-Jun Joo ◽  
Ho-Chul Park ◽  
Seung-Young Kho ◽  
Dong-Kyu Kim
Keyword(s):  
Safety Evaluation ◽  
Autonomous Driving ◽  
Lane Change ◽  
Lane Changing ◽  
Time To Collision ◽  
Lane Changes ◽  
Structural Time Series ◽  
Reliable Assessment ◽  
Reliability Method ◽  
Predicted Values

Despite the urgent need for continuous risk assessments during autonomous driving, achieving reliable assessment results is still challenging because of the unpredictable behaviors of adjacent human drivers and the resulting complexity. Such complexity increases particularly during lane changes because several vehicles need to interact with other vehicles. Therefore, this paper proposes a new framework to analyze lane-changing risk on freeways considering the forecastability in adjacent vehicles. Virtual lane-change scenarios are constructed based on historical maneuvers in adjacent vehicles, and the risk of potential lane change is evaluated through the safety evaluation result of the scenario. Adjacent vehicles’ future maneuvers are predicted using a multivariate Bayesian structural time series model, and the forecastability is estimated as the standard error of the predicted values. The failure probability of those lane-changing scenarios is obtained through the first-order reliability method, assuming that failure occurred when any time-to-collision value for adjacent vehicles was less than a threshold at the end of the lane change. This study tested two scenarios with three levels of uncertainty to show the effect of uncertainty on the level of risk. The results showed that the reduced uncertainty allowed a clearer distinction between risky situations. The proposed framework differentiates itself from existing methods by estimating higher risk in an adjacent vehicle’s more significant uncertainties. It is expected that the outcome of this study will be valuable in developing reliable lane-change strategies in autonomous driving.

scholarly journals Simulation-Based Analysis of the Effect of Significant Traffic Parameters on Lane Changing for Driving Logic “Cautious” on a Freeway

2019 ◽  
Vol 11 (21) ◽  
pp. 5976
Author(s):  
Danish Farooq ◽  
Janos Juhasz
Keyword(s):  
Regression Model ◽  
Traffic Safety ◽  
Traffic Volume ◽  
Lane Change ◽  
Lane Changing ◽  
Safety Issues ◽  
The Road ◽  
Speed Distribution ◽  
On The Road ◽  
High Traffic Volume

Lane changing of traffic flow is a complicated and significsant behavior for traffic safety on the road. Frequent lane changing can cause serious traffic safety issues, particularly on a two-lane road section of a freeway. This study aimed to analyze the effect of significant traffic parameters for traffic safety on lane change frequency using the studied calibrated values for driving logic “conscious” in VISSIM. Video-recorded traffic data were utilized to calibrate the model under specified traffic conditions, and the relationship between observed variables were estimated using simulation plots. The results revealed that changes in average desired speed and traffic volume had a positive relationship with lane change frequency. In addition, lane change frequency was observed to be higher when the speed distribution was set large. 3D surface plots were also developed to show the integrated effect of specified traffic parameters on lane change frequency. Results showed that high average desired speed and large desired speed distribution coupled with high traffic volume increased the lane change frequency tremendously. The study also attempted to develop a regression model to quantify the effect of the observed parameters on lane change frequency. The regression model results showed that desired speed distribution had the highest effect on lane change frequency compared to other traffic parameters. The findings of the current study highlight the most significant traffic parameters that influence the lane change frequency.

A novel evaluation method for vehicle and traffic performance of different decision control of automatic lane change based on miniature model

2020 ◽  
Vol 234 (12) ◽  
pp. 2794-2806 ◽  
Author(s):  
Yangyang Wang ◽  
Guangda Chen ◽  
Yuanxing Jiang
Keyword(s):  
Traffic Safety ◽  
Evaluation Method ◽  
Physical Simulation ◽  
Road Traffic ◽  
Driver Model ◽  
Lane Change ◽  
Simulation Test ◽  
Lane Changes ◽  
Decision Control ◽  
Lane Change Test

Research on automatic lane-change decision is mainly limited to simulation validation and lacks real vehicle validation methods because it is limited by experimental site and automatic driving technology on real vehicles. This paper puts forward a miniature traffic model to simulate the actual traffic scene and achieves to verify the decision control of automatic lane-change scene. The miniature intelligent traffic scene contains miniature vehicles, simplified miniature road traffic environment, and wireless network communication. After testing the basic functions of the miniature traffic scene model, such as automatic lane change, lane keeping, and automatic following, a semi-physical simulation test of the traffic flow composed of the model vehicle and the virtual vehicle is carried out. The semi-physical simulation test includes vehicle-following test of hybrid-condition intelligent driver model, lane-change test of lane-change decision two-vehicle gaming model, and minimizing overall braking induced by lane changes. The results show that the feasibility of the method and of the lane-change decision two-vehicle gaming model of automatic lane change is better in terms of traffic safety, traffic efficiency, and homogeneity. Compared to the minimizing overall braking induced by lane-change model test, the test of lane-change decision two-vehicle gaming model improves 2.26% and 1.5% in the average speed and total driving distance, respectively. The standard deviation of the traffic speed of the lane-change decision two-vehicle gaming model was 28.57% lower than the minimizing overall braking induced by lane changes. Compared to pure simulation verification, the method considers the effects of actual sensor signals and actuator control, which is closer to the actual application.

scholarly journals Cooperative Lane-Change Maneuver for Multiple Automated Vehicles on a Highway

2019 ◽  
Vol 2 (3) ◽  
pp. 157-168 ◽  
Author(s):  
Yugong Luo ◽  
Gang Yang ◽  
Mingchang Xu ◽  
Zhaobo Qin ◽  
Keqiang Li
Keyword(s):  
Trajectory Planning ◽  
Control Method ◽  
Lane Change ◽  
Tracking Errors ◽  
Integrated Simulation ◽  
Lane Changes ◽  
V2v Communication ◽  
Multiple Vehicles ◽  
Single Vehicle ◽  
And Control

Abstract With the development of vehicle-to-vehicle (V2V) communication, it is possible to share information among multiple vehicles. However, the existing research on automated lane changes concentrates only on the single-vehicle lane change with self-detective information. Cooperative lane changes are still a new area with more complicated scenarios and can improve safety and lane-change efficiency. Therefore, a multi-vehicle cooperative automated lane-change maneuver based on V2V communication for scenarios of eight vehicles on three lanes was proposed. In these scenarios, same-direction and intersectant-direction cooperative lane changes were defined. The vehicle that made the cooperative decision obtained the information of surrounding vehicles that were used to cooperatively plan the trajectories, which was called cooperative trajectory planning. The cooperative safety spacing model was proposed to guarantee and improve the safety of all vehicles, and it essentially developed constraints for the trajectory-planning task. Trajectory planning was treated as an optimization problem with the objective of maximizing safety, comfort, and lane-change efficiency under the constraints of vehicle dynamics and the aforementioned safety spacing model. Trajectory tracking based on a model predictive control method was designed to minimize tracking errors and control increments. Finally, to verify the validity of the proposed maneuver, an integrated simulation platform combining MATLAB/Simulink with CarSim was established. Moreover, a hardware-in-the-loop test bench was performed for further verification. The results indicated that the proposed multi-vehicle cooperative automated lane-change maneuver can achieve lane changes of multiple vehicles and increase lane-change efficiency while guaranteeing safety and comfort.

scholarly journals Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

2020 ◽  
Vol 10 (5) ◽  
pp. 1626 ◽  
Author(s):  
Xiaodong Wu ◽  
Bangjun Qiao ◽  
Chengrui Su
Keyword(s):  
Trajectory Planning ◽  
Autonomous Vehicle ◽  
Safety Margin ◽  
Autonomous Driving ◽  
Simulation System ◽  
Lane Change ◽  
Lane Changing ◽  
Lane Changes ◽  
Gray Prediction ◽  
Safety Margins

A lane change is one of the most important driving scenarios for autonomous driving vehicles. This paper proposes a safe and comfort-oriented algorithm for an autonomous vehicle to perform lane changes on a straight and level road. A simplified Gray Prediction Model is designed to estimate the driving status of surrounding vehicles, and time-variant safety margins are employed during the trajectory planning to ensure a safe maneuver. The algorithm is able to adapt its lane changing strategy based on traffic situation and passenger demands, and features condition-triggered rerouting to handle unexpected traffic situations. The concept of dynamic safety margins with different settings of parameters gives a customizable feature for the autonomous lane changing control. The effect of the algorithm is verified within a self-developed traffic simulation system.

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