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Lane change is one of the most principle driving behaviors on structure roads. It frequently happens in daily driving. A key issue in lane change technique is trajectory planning, where a set of trajectories describing possible vehicle motions are generated by applying a parametric function, and by uniformly sampling the end states in configuration space; the trajectories are then examined to find...
In this paper, an efficient real-time autonomous driving motion planner with trajectory optimization is proposed. The planner first discretizes the plan space and searches for the best trajectory based on a set of cost functions. Then an iterative optimization is applied to both the path and speed of the resultant trajectory. The post-optimization is of low computational complexity and is able to...
In order to improve energy efficiency of transport systems, eco-driving strategies are studied world-widely. However, most literatures on eco-driving based on traditional traffic flow models, are greatly simplified, and can not evaluate the effects on detailed driving behaviors. By referring to robot motion planning approaches, in this research a microscopic vehicle model is developed and it can represent...
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