Building a mathematics model for lane-change technology of autonomous vehicles
In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle’s safety features and the road’s slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Electronics and Telecommunications Research Institute (ETRI)
2022-08-01
|
| Series: | ETRI Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.4218/etrij.2021-0129 |
| _version_ | 1797985662124687360 |
|---|---|
| author | Pham Anh Phuong Huynh Cong Phap Quach Hai Tho |
| author_facet | Pham Anh Phuong Huynh Cong Phap Quach Hai Tho |
| author_sort | Pham Anh Phuong |
| collection | DOAJ |
| description | In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle’s safety features and the road’s slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane-change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane-change trajectories for autonomous vehicles. When comparing this generated trajectory with a man-generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver’s lanechange operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane-change trajectory. |
| first_indexed | 2024-04-11T07:20:31Z |
| format | Article |
| id | doaj.art-f78243695fbf40d3b312e14c09ac5ec9 |
| institution | Directory Open Access Journal |
| issn | 1225-6463 |
| language | English |
| last_indexed | 2024-04-11T07:20:31Z |
| publishDate | 2022-08-01 |
| publisher | Electronics and Telecommunications Research Institute (ETRI) |
| record_format | Article |
| series | ETRI Journal |
| spelling | doaj.art-f78243695fbf40d3b312e14c09ac5ec92022-12-22T04:37:46ZengElectronics and Telecommunications Research Institute (ETRI)ETRI Journal1225-64632022-08-0144464165310.4218/etrij.2021-012910.4218/etrij.2021-0129Building a mathematics model for lane-change technology of autonomous vehiclesPham Anh PhuongHuynh Cong PhapQuach Hai ThoIn the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle’s safety features and the road’s slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane-change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane-change trajectories for autonomous vehicles. When comparing this generated trajectory with a man-generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver’s lanechange operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane-change trajectory.https://doi.org/10.4218/etrij.2021-0129autonomous vehicleintelligent transportation systemslane changemotion planning |
| spellingShingle | Pham Anh Phuong Huynh Cong Phap Quach Hai Tho Building a mathematics model for lane-change technology of autonomous vehicles ETRI Journal autonomous vehicle intelligent transportation systems lane change motion planning |
| title | Building a mathematics model for lane-change technology of autonomous vehicles |
| title_full | Building a mathematics model for lane-change technology of autonomous vehicles |
| title_fullStr | Building a mathematics model for lane-change technology of autonomous vehicles |
| title_full_unstemmed | Building a mathematics model for lane-change technology of autonomous vehicles |
| title_short | Building a mathematics model for lane-change technology of autonomous vehicles |
| title_sort | building a mathematics model for lane change technology of autonomous vehicles |
| topic | autonomous vehicle intelligent transportation systems lane change motion planning |
| url | https://doi.org/10.4218/etrij.2021-0129 |
| work_keys_str_mv | AT phamanhphuong buildingamathematicsmodelforlanechangetechnologyofautonomousvehicles AT huynhcongphap buildingamathematicsmodelforlanechangetechnologyofautonomousvehicles AT quachhaitho buildingamathematicsmodelforlanechangetechnologyofautonomousvehicles |