Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving Study
With the rise in the intelligence levels of automated vehicles, increasing numbers of modules of automated driving systems are being combined to achieve better performance and adaptability by reducing information loss. In this study, an integrated decision and motion planning system is designed for...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/1/26 |
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| author | Feng Gao Xu Zheng Qiuxia Hu Hongwei Liu |
| author_facet | Feng Gao Xu Zheng Qiuxia Hu Hongwei Liu |
| author_sort | Feng Gao |
| collection | DOAJ |
| description | With the rise in the intelligence levels of automated vehicles, increasing numbers of modules of automated driving systems are being combined to achieve better performance and adaptability by reducing information loss. In this study, an integrated decision and motion planning system is designed for multi-object highways. A two-layer structure is presented to decouple the influence of the traffic environment and the dynamic control of ego vehicles using the cognitive safety area, the size of which is determined by naturalistic driving behavior. The artificial potential field method is used to comprehensively describe the influence of all external objects on the cognitive safety area, the lateral motion dynamics of which are determined by the attention mechanism of the human driver during lane changes. Then, the interaction between the designed cognitive safety area and the ego vehicle can be simplified into a spring-damping system, and the desired dynamic states of the ego vehicle can be obtained analytically for better computational efficiency. The effectiveness of this on improving traffic efficiency, driving comfort, safety, and real-time performance was validated using several comparative tests utilizing complicated scenarios with multiple vehicles. |
| format | Article |
| id | doaj-art-2e65edebc35f4d73a6fd810b6b7461cf |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-2e65edebc35f4d73a6fd810b6b7461cf2025-01-10T13:20:35ZengMDPI AGSensors1424-82202024-12-012512610.3390/s25010026Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving StudyFeng Gao0Xu Zheng1Qiuxia Hu2Hongwei Liu3College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, ChinaCollege of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, ChinaCollege of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, ChinaWestern Science City Intelligent and Connected Vehicle Innovation Center (Chongqing) Co., Ltd., Chongqing 400015, ChinaWith the rise in the intelligence levels of automated vehicles, increasing numbers of modules of automated driving systems are being combined to achieve better performance and adaptability by reducing information loss. In this study, an integrated decision and motion planning system is designed for multi-object highways. A two-layer structure is presented to decouple the influence of the traffic environment and the dynamic control of ego vehicles using the cognitive safety area, the size of which is determined by naturalistic driving behavior. The artificial potential field method is used to comprehensively describe the influence of all external objects on the cognitive safety area, the lateral motion dynamics of which are determined by the attention mechanism of the human driver during lane changes. Then, the interaction between the designed cognitive safety area and the ego vehicle can be simplified into a spring-damping system, and the desired dynamic states of the ego vehicle can be obtained analytically for better computational efficiency. The effectiveness of this on improving traffic efficiency, driving comfort, safety, and real-time performance was validated using several comparative tests utilizing complicated scenarios with multiple vehicles.https://www.mdpi.com/1424-8220/25/1/26automated vehiclemotion planningdriving decisionartificial potential fieldnaturalistic driving study |
| spellingShingle | Feng Gao Xu Zheng Qiuxia Hu Hongwei Liu Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving Study Sensors automated vehicle motion planning driving decision artificial potential field naturalistic driving study |
| title | Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving Study |
| title_full | Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving Study |
| title_fullStr | Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving Study |
| title_full_unstemmed | Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving Study |
| title_short | Integrated Decision and Motion Planning for Highways with Multiple Objects Using a Naturalistic Driving Study |
| title_sort | integrated decision and motion planning for highways with multiple objects using a naturalistic driving study |
| topic | automated vehicle motion planning driving decision artificial potential field naturalistic driving study |
| url | https://www.mdpi.com/1424-8220/25/1/26 |
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