Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles

doi:10.1109/JAS.2022.106049

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	Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles
	Wen Hu; Zejian Deng; Dongpu Cao; Bangji Zhang; Amir Khajepour; Lei Zeng; Yang Wu
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:12 页码:2161-2173
关键词	Autonomous heavy truck decision-making driving aggressiveness risk assessment trajectory planning
ISSN号	2329-9266
DOI	10.1109/JAS.2022.106049
英文摘要	To improve the safety and driving stability of the autonomous heavy truck, it is necessary to consider the differences of driving behavior and drivable trajectories between the heavy trucks and passenger cars. This study proposes a probabilistic decision-making and trajectory planning framework for the autonomous heavy trucks. Firstly, the driving decision process is divided into intention generation and feasibility evaluations, which are realized using the utility theory and risk assessment, respectively. Subsequently the driving decision is made and sent to the trajectory planning module. In order to reflect the greater risks of the truck to other surrounding vehicles, the aggressiveness index (AI) is proposed and quantified to infer the asymmetrical risk level of lane-change maneuver. In the planning stage, the lateral and roll dynamics stability domains are developed as the constraints to exclude the candidate trajectories that would cause vehicle instability. Finally, the simulation results are compared between the proposed model and the artificial potential filed model in the scenarios extracted from the naturalistic driving data. It is shown that the proposed framework can provide the human-like lane-change decisions and truck-friendly trajectories, and performs well in dynamic driving environments.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50586]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Wen Hu,Zejian Deng,Dongpu Cao,et al. Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(12):2161-2173.
APA	Wen Hu.,Zejian Deng.,Dongpu Cao.,Bangji Zhang.,Amir Khajepour.,...&Yang Wu.(2022).Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles.IEEE/CAA Journal of Automatica Sinica,9(12),2161-2173.
MLA	Wen Hu,et al."Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles".IEEE/CAA Journal of Automatica Sinica 9.12(2022):2161-2173.