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A Humanized Lane-Changing Decision-Making and Planning Method Based on a Microscopic Traffic Flow Model
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Xiang FU1, Chao PEI2, Jiaqi WAN3, Xueliang JIANG4, Wenju WANG5
Chinese Journal of Automotive Engineering | 2024, 14(6) : 959 - 969
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Chinese Journal of Automotive Engineering | 2024, 14(6): 959-969
• Inteligent & Connected Technologies Section/Editor in Chief: GAO Zhenhai •
A Humanized Lane-Changing Decision-Making and Planning Method Based on a Microscopic Traffic Flow Model
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Xiang FU1, Chao PEI2, Jiaqi WAN3, Xueliang JIANG4, Wenju WANG5
Affiliations
  • 1 Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology Wuhan 430070 China
  • 2 Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology Wuhan 430070 China
  • 3 Hubei Research Center for New Energy & Intelligent Connected Vehicle Wuhan University of Technology Wuhan 430070 China
  • 4 School of Automotive Engineering Wuhan University of Technology Wuhan 430070 China
  • 5 Wuhan Huaxia University of Technology Wuhan 430223 China
doi: 10.3969/j.issn.2095–1469.2024.06.04
Outline
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To improve the safety and comfort of autonomous vehicles during lane changes, the proposed approach incorporates the impact of lanechanging on local traffic flow and introduces a lanechanging inertia factor based on traditional decisionmaking models. To overcome the limitations of decoupled longitudinal and lateral trajectory planning, a joint constraint planning approach is proposed. Using dynamic programming and quadratic programming algorithms, the current lateral trajectory curvature is adjusted based on the longitudinal constraints from the previous frame. In the longitudinal planning process, key obstacles are filtered based on the current lateral planning results, and curvaturebased speed constraints are

intelligent driving  /  the microscopic traffic car  /  lane-changing behavior decision-making  /  horizontal and vertical joint constrained programming
付翔, 裴超, 万佳琦, 江学良, 王文举. 基于微观车流的拟人化换道决策规划. 汽车工程学报, 2024 , 14 (6) : 959 -969 . DOI: 10.3969/j.issn.2095–1469.2024.06.04
Xiang FU, Chao PEI, Jiaqi WAN, Xueliang JIANG, Wenju WANG. A Humanized Lane-Changing Decision-Making and Planning Method Based on a Microscopic Traffic Flow Model[J]. Chinese Journal of Automotive Engineering, 2024 , 14 (6) : 959 -969 . DOI: 10.3969/j.issn.2095–1469.2024.06.04
Appendix
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Year 2024 volume 14 Issue 6
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Article Info
doi: 10.3969/j.issn.2095–1469.2024.06.04
  • Receive Date：2023-10-16
  • Online Date：2025-07-20
Article Data
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History
  • Received：2023-10-16
  • Revised：2023-11-26
Funding
Affiliations
    1 Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology Wuhan 430070 China
    2 Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology Wuhan 430070 China
    3 Hubei Research Center for New Energy & Intelligent Connected Vehicle Wuhan University of Technology Wuhan 430070 China
    4 School of Automotive Engineering Wuhan University of Technology Wuhan 430070 China
    5 Wuhan Huaxia University of Technology Wuhan 430223 China
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https://castjournals.cast.org.cn/joweb/qcgcxb/EN/10.3969/j.issn.2095–1469.2024.06.04
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多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
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光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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