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Master_Thesis_Yuhao_Shui.pdf (1.52 MB)

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Strategic Trajectory Planning of Highway Lane Change Maneuver with Longitudinal Speed Control

Shui, Yuhao
http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441

Abstract Details

2015, Master of Science, Ohio State University, Electrical and Computer Engineering.
Even though extensive research has been conducted on vehicle highway longitudinal control under simple driving scenario, real life implementation of such system requires considering of surrounding trafficc situations and movements such as lane change, weaves, on-ramp and off -ramp merges. In this thesis, the concept of driver being responsible for lateral control with automated longitudinal control is deployed in order to realize the mobility and safety bene fitts and a fundamental framework has been built to investigate highway longitudinal control with lane change trajectory generated by geometric high-order polynomial. With the assumption of surrounding vehicles' position and velocity are available, highway two lane situation with driver being advised by the lane change module for the operation is studied. This system consists of several diff erent modules: vehicle single lane following control module, maneuver generation module, lane change trajectory generation module and Model Predictive Control (MPC) control while lane changing. Three controllers: PID cruise controller, transitional trajectory and vehicle following controller are used to achieve the functionality of vehicle following with a Finite State Machine (FSM) designed for controller switch decision making based on surrounding traffic movements. The following controller is needed to follow the preceding slower vehicle when driver does not intend to make a lane change. The vehicle maneuver generation module is first designed to inform the system, for example, whether an acceleration or deceleration lane change is needed to lead or follow the vehicle in the adjacent lane. Both Time to Collision and Inter Vehicular Time are used as collision indicators to ensure safety. All possible cases of high-way two lane situation with one slow preceding vehicle and one surrounding vehicle in the adjacent lane are integrated into the maneuver generation FSM design. Based on the suggested maneuver, the lane change trajectory generation module provides a desired trajectory for the longitudinal controller to follow. A pure geometric high order polynomial trajectory planning method is used to design obstacle avoidance lane change trajectory. In the end, an MPC controller is utilized to control the speed of the vehicle while lane changing.
Umit Ozguner (Advisor)
Junmin Wang (Advisor)
Lisa Fiorentini (Committee Member)
Chia-Hsiang Menq (Committee Member)
118 p.
Automotive Engineering; Electrical Engineering; Mechanical Engineering
Lane change, Adaptive Cruise Control, Model Predictive Control, Polynomial, Finite State Machine

Recommended Citations

Citations

  • Shui, Y. (2015). Strategic Trajectory Planning of Highway Lane Change Maneuver with Longitudinal Speed Control [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441

    APA Style (7th edition)

  • Shui, Yuhao. Strategic Trajectory Planning of Highway Lane Change Maneuver with Longitudinal Speed Control. 2015. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441.

    MLA Style (8th edition)

  • Shui, Yuhao. "Strategic Trajectory Planning of Highway Lane Change Maneuver with Longitudinal Speed Control." Master's thesis, Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441

    Chicago Manual of Style (17th edition)

osu1431093441
6,488
© 2015, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.