0
Research Papers

Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints

[+] Author and Article Information
Joseph Funke

Dynamic Design Laboratory,
Department of Mechanical Engineering,
Stanford University,
Stanford, CA 94305
e-mail: jfunke@stanford.edu

J. Christian Gerdes

Dynamic Design Laboratory,
Department of Mechanical Engineering,
Stanford University,
Stanford, CA 94305
e-mail: gerdes@stanford.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 1, 2013; final manuscript received November 15, 2015; published online December 11, 2015. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 138(2), 021002 (Dec 11, 2015) (9 pages) Paper No: DS-13-1256; doi: 10.1115/1.4032033 History: Received July 01, 2013; Revised November 15, 2015

This paper demonstrates that an autonomous vehicle can perform emergency lane changes up to the friction limits through real-time generation and evaluation of bi-elementary paths. Path curvature and friction determine the maximum possible speed along the path and, consequently, the feasibility of the path. This approach incorporates both steering inputs and changes in speed during the maneuver. As a result, varying path parameters and observing the maximum possible entry speed of resulting paths give insight about when and to what extent a vehicle should brake and turn during emergency lane change maneuvers. Tests on an autonomous vehicle validate this approach for lane changes near the limits of friction.

Copyright © 2016 by ASME
Topics: Friction , Vehicles , Braking
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 4

Symmetry of generalized elementary path

Grahic Jump Location
Fig. 3

Generalized elementary path curvature profile

Grahic Jump Location
Fig. 2

Lane change and path parameters

Grahic Jump Location
Fig. 1

Acceleration limits based on a friction circle model

Grahic Jump Location
Fig. 6

Varying γ for a lane change path

Grahic Jump Location
Fig. 5

Determining a speed profile for a path

Grahic Jump Location
Fig. 8

Varying β for a lane change path

Grahic Jump Location
Fig. 9

β maximizing entry speed as X varies

Grahic Jump Location
Fig. 7

γ maximizing entry speed as X varies

Grahic Jump Location
Fig. 10

Varying λ for a lane change path

Grahic Jump Location
Fig. 11

λ maximizing entry speed as X varies

Grahic Jump Location
Fig. 15

Acceleration limits and experimental results

Grahic Jump Location
Fig. 12

Autonomous Audi TTS

Grahic Jump Location
Fig. 13

Lane change paths traveled by vehicle

Grahic Jump Location
Fig. 14

Speed profile and actual vehicle speed

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In