Lane-Changing Trajectory Optimization to Minimize Traffic Flow Disturbance in a Connected Automated Driving Environment

Gihyeob An, Alireza Talebpour

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

It is known that lane-changing maneuvers cause traffic disruption and result in shockwave formation and propagation. The introduction of connected automated vehicles (CAV) provides the opportunity to coordinate the vehicle movements during the lane-changing maneuver to deal with this issue. Accordingly, this paper proposes an approach to jointly optimize the lateral trajectory of a lane-changing CAV and the longitudinal control of an impacted CAV in the target lane. Towards this objective: i) we first design a model predictive controller (MPC) for the vehicle in the target lane to properly respond to a discretionary lane-changing maneuver; ii) we then specify a set of possible lateral trajectories that may be adopted by the lane-changing vehicle; iii) we then compute the required deceleration of the vehicle directly impacted by the lane-changing based on the estimated set of the lateral trajectories; iv) we finally choose the trajectory that minimizes the total deceleration effort (i.e., minimizes the disturbance in the platoon of vehicles). Analytical and simulation-based investigations are performed to assess the capability of the proposed approach in minimizing the acceleration disturbance and shockwave magnitude.

Original languageEnglish (US)
Title of host publication2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1794-1799
Number of pages6
ISBN (Electronic)9781538670248
DOIs
StatePublished - Oct 2019
Externally publishedYes
Event2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 - Auckland, New Zealand
Duration: Oct 27 2019Oct 30 2019

Publication series

Name2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

Conference

Conference2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
CountryNew Zealand
CityAuckland
Period10/27/1910/30/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Management Science and Operations Research
  • Instrumentation
  • Transportation

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  • Cite this

    An, G., & Talebpour, A. (2019). Lane-Changing Trajectory Optimization to Minimize Traffic Flow Disturbance in a Connected Automated Driving Environment. In 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 (pp. 1794-1799). [8916942] (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2019.8916942