IDEAS home Printed from https://ideas.repec.org/a/eee/phsmap/v609y2023ics0378437122009190.html
   My bibliography  Save this article

A dynamic lane-changing decision and trajectory planning model of autonomous vehicles under mixed autonomous vehicle and human-driven vehicle environment

Author

Listed:
  • Yu, Yuewen
  • Luo, Xia
  • Su, Qiming
  • Peng, Weikang

Abstract

How to complete a lane changing process considering various variables has always been a critical issue in the field of autonomous driving. Developing a lane-changing decision model with full consideration of the surrounding vehicles and related decision-based trajectory planning model that comprehensively weighs safety and efficiency are conducive to the driving of autonomous vehicles (AVs) under mixed autonomous vehicle and human-driven vehicle (AV–HV) environment. Under the mixed AV–HV environment, we optimize a multi-player dynamic game model considering the status of surrounding vehicles to ensure the accurate execution of lane-changing decision of AVs. Lane changing trajectory of AV is planned based on polynomial curves, which can be dynamically updated according to the real-time status of vehicles and game results. Then, a computational experiment basing on the lane changing vehicles data from NGSIM (Next Generation Simulation) is performed with proposed models. The simulation results show that the lane-changing decision and trajectory planning model developed in our research have good adaptability to lane changing process in different scenarios, which can effectively measure the driving intention of surrounding vehicles and dynamically plan a smooth trajectory line considering safety and efficiency.

Suggested Citation

  • Yu, Yuewen & Luo, Xia & Su, Qiming & Peng, Weikang, 2023. "A dynamic lane-changing decision and trajectory planning model of autonomous vehicles under mixed autonomous vehicle and human-driven vehicle environment," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 609(C).
    • Handle: RePEc:eee:phsmap:v:609:y:2023:i:c:s0378437122009190
    DOI: 10.1016/j.physa.2022.128361
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0378437122009190
    Download Restriction: Full text for ScienceDirect subscribers only. Journal offers the option of making the article available online on Science direct for a fee of $3,000
    File URL: https://libkey.io/10.1016/j.physa.2022.128361?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Jin, Sheng & Wang, Dianhai & Tao, Pengfei & Li, Pingfan, 2010. "Non-lane-based full velocity difference car following model," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 389(21), pages 4654-4662.
    2. Lawrence D. Burns, 2013. "A vision of our transport future," Nature, Nature, vol. 497(7448), pages 181-182, May.
    3. Gipps, P. G., 1986. "A model for the structure of lane-changing decisions," Transportation Research Part B: Methodological, Elsevier, vol. 20(5), pages 403-414, October.
    4. Nakata, Makoto & Yamauchi, Atsuo & Tanimoto, Jun & Hagishima, Aya, 2010. "Dilemma game structure hidden in traffic flow at a bottleneck due to a 2 into 1 lane junction," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 389(23), pages 5353-5361.
    5. Zheng Peng & Wenxing Zhu, 2013. "An Alternating Direction Method for Nash Equilibrium of Two-Person Games with Alternating Offers," Journal of Optimization Theory and Applications, Springer, vol. 157(2), pages 533-551, May.
    6. Coifman, Benjamin & Li, Lizhe, 2017. "A critical evaluation of the Next Generation Simulation (NGSIM) vehicle trajectory dataset," Transportation Research Part B: Methodological, Elsevier, vol. 105(C), pages 362-377.
    7. Ang Ji & David Levinson, 2021. "Estimating the Social Gap with a Game Theory Model of Lane Changing," Working Papers 2021-02, University of Minnesota: Nexus Research Group.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Yuan, Renteng & Abdel-Aty, Mohamed & Gu, Xin & Zheng, Ou & Xiang, Qiaojun, 2023. "A unified modeling framework for lane change intention recognition and vehicle status prediction," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 632(P1).
    2. Cai, Yunhao & Jing, Peng & Wang, Baihui & Jiang, Chengxi & Wang, Yuan, 2023. "How does “over-hype” lead to public misconceptions about autonomous vehicles? A new insight applying causal inference," Transportation Research Part A: Policy and Practice, Elsevier, vol. 175(C).
    3. Wang, Zhangu & Guan, Changming & Zhao, Ziliang & Zhao, Jun & Qi, Chen & Hui, Zilaing, 2024. "Expressway lane change strategy of autonomous driving based on prior knowledge and data-driven," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 640(C).

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Weihan Chen & Gang Ren & Qi Cao & Jianhua Song & Yikun Liu & Changyin Dong, 2023. "A Game-Theory-Based Approach to Modeling Lane-Changing Interactions on Highway On-Ramps: Considering the Bounded Rationality of Drivers," Mathematics, MDPI, vol. 11(2), pages 1-16, January.
    2. Wang, Zhaohan & Ramezani, Mohsen & Levinson, David, 2024. "How mandatory are ‘Mandatory’ lane changes? An analytical and experimental study on the costs of missing freeway exits," Transportation Research Part B: Methodological, Elsevier, vol. 186(C).
    3. Li, Gen & Zhao, Le & Tang, Wenyun & Wu, Lan & Ren, Jiaolong, 2023. "Modeling and analysis of mandatory lane-changing behavior considering heterogeneity in means and variances," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 622(C).
    4. Mingmin Guo & Zheng Wu & Huibing Zhu, 2018. "Empirical study of lane-changing behavior on three Chinese freeways," PLOS ONE, Public Library of Science, vol. 13(1), pages 1-22, January.
    5. Saeed, Tariq Usman & Burris, Mark W. & Labi, Samuel & Sinha, Kumares C., 2020. "An empirical discourse on forecasting the use of autonomous vehicles using consumers’ preferences," Technological Forecasting and Social Change, Elsevier, vol. 158(C).
    6. Simão, Ricardo & Wardil, Lucas, 2021. "Social dilemma in traffic with heterogeneous drivers," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 561(C).
    7. Li, Yongfu & Zhao, Hang & Zhang, Li & Zhang, Chao, 2018. "An extended car-following model incorporating the effects of lateral gap and gradient," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 503(C), pages 177-189.
    8. He, Jia & He, Zhengbing & Fan, Bo & Chen, Yanyan, 2020. "Optimal location of lane-changing warning point in a two-lane road considering different traffic flows," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 540(C).
    9. Shuping Wu & Zan Yang, 2020. "Availability of Public Electric Vehicle Charging Pile and Development of Electric Vehicle: Evidence from China," Sustainability, MDPI, vol. 12(16), pages 1-14, August.
    10. Meyer, Jonas & Becker, Henrik & Bösch, Patrick M. & Axhausen, Kay W., 2017. "Autonomous vehicles: The next jump in accessibilities?," Research in Transportation Economics, Elsevier, vol. 62(C), pages 80-91.
    11. Ziakopoulos, Apostolos & Oikonomou, Maria G. & Vlahogianni, Eleni I. & Yannis, George, 2021. "Quantifying the implementation impacts of a point to point automated urban shuttle service in a large-scale network," Transport Policy, Elsevier, vol. 114(C), pages 233-244.
    12. Moneim Massar & Imran Reza & Syed Masiur Rahman & Sheikh Muhammad Habib Abdullah & Arshad Jamal & Fahad Saleh Al-Ismail, 2021. "Impacts of Autonomous Vehicles on Greenhouse Gas Emissions—Positive or Negative?," IJERPH, MDPI, vol. 18(11), pages 1-23, May.
    13. Hudson, John & Orviska, Marta & Hunady, Jan, 2019. "People’s attitudes to autonomous vehicles," Transportation Research Part A: Policy and Practice, Elsevier, vol. 121(C), pages 164-176.
    14. Sergey Naumov & David R. Keith & Charles H. Fine, 2020. "Unintended Consequences of Automated Vehicles and Pooling for Urban Transportation Systems," Production and Operations Management, Production and Operations Management Society, vol. 29(5), pages 1354-1371, May.
    15. Roberto Battistini & Luca Mantecchini & Maria Nadia Postorino, 2020. "Users’ Acceptance of Connected and Automated Shuttles for Tourism Purposes: A Survey Study," Sustainability, MDPI, vol. 12(23), pages 1-17, December.
    16. Becker, Henrik & Becker, Felix & Abe, Ryosuke & Bekhor, Shlomo & Belgiawan, Prawira F. & Compostella, Junia & Frazzoli, Emilio & Fulton, Lewis M. & Guggisberg Bicudo, Davi & Murthy Gurumurthy, Krishna, 2020. "Impact of vehicle automation and electric propulsion on production costs for mobility services worldwide," Transportation Research Part A: Policy and Practice, Elsevier, vol. 138(C), pages 105-126.
    17. Yin, Yu-Hang & Lü, Xing & Jiang, Rui & Jia, Bin & Gao, Ziyou, 2024. "Kinetic analysis and numerical tests of an adaptive car-following model for real-time traffic in ITS," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 635(C).
    18. Ana Louro & Nuno Marques da Costa & Eduarda Marques da Costa, 2019. "Sustainable Urban Mobility Policies as a Path to Healthy Cities—The Case Study of LMA, Portugal," Sustainability, MDPI, vol. 11(10), pages 1-32, May.
    19. Xiang Zhang & David Rey & S. Travis Waller & Nathan Chen, 2019. "Range-Constrained Traffic Assignment with Multi-Modal Recharge for Electric Vehicles," Networks and Spatial Economics, Springer, vol. 19(2), pages 633-668, June.
    20. Kanagaraj, Venkatesan & Treiber, Martin, 2018. "Self-driven particle model for mixed traffic and other disordered flows," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 509(C), pages 1-11.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:phsmap:v:609:y:2023:i:c:s0378437122009190. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: http://www.journals.elsevier.com/physica-a-statistical-mechpplications/ .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.