A new safe lane-change trajectory model and collision avoidance control method for automatic driving vehicles

作者：

Highlights：

• A new safety lane change trajectory model for autonomous vehicles.

• Minimum safety distances in different steering frequency domain.

• Vehicle collision avoidance control strategies are proposed.

• Typical lane change scenarios for intelligent vehicles are designed.

摘要

•A new safety lane change trajectory model for autonomous vehicles.•Minimum safety distances in different steering frequency domain.•Vehicle collision avoidance control strategies are proposed.•Typical lane change scenarios for intelligent vehicles are designed.

论文关键词：Vehicle safety,Lane change,Trajectory model,Decision mechanism,Feedback linearization control,Automatic driving vehicle

论文评审过程：Received 9 September 2018, Revised 15 August 2019, Accepted 12 September 2019, Available online 13 September 2019, Version of Record 20 September 2019.

论文官网地址：https://doi.org/10.1016/j.eswa.2019.112953