A novel decision-making unit for automated maneuver of articulated vehicles in real traffic situations
| Autor: | Mohammad Amin Saeedi, Ali Rahmani Hanzaki, Shahram Azadi, Saeed Shojaei |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
050210 logistics & transportation
Computer science Mechanical Engineering 05 social sciences Real-time computing Aerospace Engineering ComputerApplications_COMPUTERSINOTHERSYSTEMS 020302 automobile design & engineering 02 engineering and technology Unit (housing) 0203 mechanical engineering Trajectory planning 0502 economics and business Articulated vehicle |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 234:152-171 |
| ISSN: | 2041-2991 0954-4070 |
| DOI: | 10.1177/0954407019838380 |
| Popis: | In this paper, a new decision-making algorithm for double lane change maneuver of an articulated vehicle in real dynamic circumstances is studied. A novel method for determining the decision conditions is used based on the articulated vehicle kinematics and dynamics. Through this method, several points of the articulated vehicle are considered in various situations when conducting double lane change maneuver, and the critical points are determined. A new realistic dynamic method is used based on a 16-degrees of freedom dynamic model of the articulated vehicle. The sliding mode control method is utilized to increase the method efficiency. Therefore, the least safe time to perform the double lane change maneuver is extracted based on the sliding mode control method as tracking control. A new Articulated Vehicle Least safe time formulation is determined for dynamic circumstances. Based on the results of simulated test, the acceptable time range is also established for conducting the lane change maneuver. The lane change maneuver is generalized to the double lane change maneuver. Decision-making algorithm is introduced based on real traffic situations. The dynamic approach and the decision-making algorithm are verified. Results show the validity of the reflected method meaning that the decision-making algorithm is acceptable. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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