Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system
作者：
Highlights：
• Autonomous lane change maneuver was developed using cooperative strategy.
• Proposed system can be potential to prevent lane change crashes and thus reducing injuries and fatalities.
• A trajectory planning method based on polynomial was developed.
• A trajectory tracking controller with global convergence ability was designed.
• Simulations and experimental results were presented to validate the method.
摘要
•Autonomous lane change maneuver was developed using cooperative strategy.•Proposed system can be potential to prevent lane change crashes and thus reducing injuries and fatalities.•A trajectory planning method based on polynomial was developed.•A trajectory tracking controller with global convergence ability was designed.•Simulations and experimental results were presented to validate the method.
论文关键词：Trajectory planning,Tracking control,Backstepping method,Advanced driver assistance systems,Intelligent vehicles,Cooperative vehicle infrastructure system
论文评审过程：Available online 3 April 2015.
论文官网地址：https://doi.org/10.1016/j.eswa.2015.03.022
