Trajectory Planning and Control for Lane-Change of Autonomous Vehicle

Adeel Mehmood; Muwahida Liaquat; Aamer Iqbal Bhatti; Ehtsham Rasool

doi:10.1109/ICCAR.2019.8813737

Trajectory Planning and Control for Lane-Change of Autonomous Vehicle

Adeel Mehmood
, Muwahida Liaquat
, Aamer Iqbal Bhatti
, Ehtsham Rasool

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

27 Scopus citations

Abstract

In recent years autonomous vehicle is becoming active research area. One of the most important feature of autonomous vehicle is lane-change without driver assistance and its important part of level 2 autonomy. Wrong maneuver can lead to serious accidents on highways. Lane-change of autonomous vehicle is challenging control problem and various techniques like model predictive control, cooperative lane change, geographical information system have been used in past to get lane-change maneuver. Lane-change problem can be divided into trajectory planning and trajectory control. The current work addresses lane change of autonomous vehicle by generating trajectory with quintic polynomial and controlling it with the help of controller(PID). Two cases are discussed for lane change; considering previous vehicle and without previous vehicle. Collision prevention technique is used in case of previous vehicle to avoid collision. Results obtained shows the feasible trajectory for smooth lane change in both cases. Collision prevention technique shows how collision can be avoided in case of previous vehicle.

Original language	English
Title of host publication	2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	331-335
Number of pages	5
ISBN (Electronic)	9781728133263
DOIs	https://doi.org/10.1109/ICCAR.2019.8813737
State	Published - Apr 2019
Externally published	Yes
Event	5th International Conference on Control, Automation and Robotics, ICCAR 2019 - Beijing, China Duration: 19 Apr 2019 → 22 Apr 2019

Publication series

Name	2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019

Conference

Conference	5th International Conference on Control, Automation and Robotics, ICCAR 2019
Country/Territory	China
City	Beijing
Period	19/04/19 → 22/04/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

collision prevention
lane-change
trajectory control
trajectory planning

ASJC Scopus subject areas

Mechanical Engineering
Control and Optimization
Artificial Intelligence
Control and Systems Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICCAR.2019.8813737

Cite this

Mehmood, A., Liaquat, M., Bhatti, A. I., & Rasool, E. (2019). Trajectory Planning and Control for Lane-Change of Autonomous Vehicle. In 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019 (pp. 331-335). Article 8813737 (2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAR.2019.8813737

Mehmood, Adeel ; Liaquat, Muwahida ; Bhatti, Aamer Iqbal et al. / Trajectory Planning and Control for Lane-Change of Autonomous Vehicle. 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 331-335 (2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019).

@inproceedings{37b2f3c239174897acae9aa9b6d7a161,

title = "Trajectory Planning and Control for Lane-Change of Autonomous Vehicle",

abstract = "In recent years autonomous vehicle is becoming active research area. One of the most important feature of autonomous vehicle is lane-change without driver assistance and its important part of level 2 autonomy. Wrong maneuver can lead to serious accidents on highways. Lane-change of autonomous vehicle is challenging control problem and various techniques like model predictive control, cooperative lane change, geographical information system have been used in past to get lane-change maneuver. Lane-change problem can be divided into trajectory planning and trajectory control. The current work addresses lane change of autonomous vehicle by generating trajectory with quintic polynomial and controlling it with the help of controller(PID). Two cases are discussed for lane change; considering previous vehicle and without previous vehicle. Collision prevention technique is used in case of previous vehicle to avoid collision. Results obtained shows the feasible trajectory for smooth lane change in both cases. Collision prevention technique shows how collision can be avoided in case of previous vehicle.",

keywords = "collision prevention, lane-change, trajectory control, trajectory planning",

author = "Adeel Mehmood and Muwahida Liaquat and Bhatti, \{Aamer Iqbal\} and Ehtsham Rasool",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 5th International Conference on Control, Automation and Robotics, ICCAR 2019 ; Conference date: 19-04-2019 Through 22-04-2019",

year = "2019",

month = apr,

doi = "10.1109/ICCAR.2019.8813737",

language = "English",

series = "2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Mehmood, A, Liaquat, M, Bhatti, AI & Rasool, E 2019, Trajectory Planning and Control for Lane-Change of Autonomous Vehicle. in 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019., 8813737, 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019, Institute of Electrical and Electronics Engineers Inc., pp. 331-335, 5th International Conference on Control, Automation and Robotics, ICCAR 2019, Beijing, China, 19/04/19. https://doi.org/10.1109/ICCAR.2019.8813737

Trajectory Planning and Control for Lane-Change of Autonomous Vehicle. / Mehmood, Adeel; Liaquat, Muwahida; Bhatti, Aamer Iqbal et al.
2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 331-335 8813737 (2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Trajectory Planning and Control for Lane-Change of Autonomous Vehicle

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AU - Liaquat, Muwahida

AU - Bhatti, Aamer Iqbal

AU - Rasool, Ehtsham

PY - 2019/4

Y1 - 2019/4

N2 - In recent years autonomous vehicle is becoming active research area. One of the most important feature of autonomous vehicle is lane-change without driver assistance and its important part of level 2 autonomy. Wrong maneuver can lead to serious accidents on highways. Lane-change of autonomous vehicle is challenging control problem and various techniques like model predictive control, cooperative lane change, geographical information system have been used in past to get lane-change maneuver. Lane-change problem can be divided into trajectory planning and trajectory control. The current work addresses lane change of autonomous vehicle by generating trajectory with quintic polynomial and controlling it with the help of controller(PID). Two cases are discussed for lane change; considering previous vehicle and without previous vehicle. Collision prevention technique is used in case of previous vehicle to avoid collision. Results obtained shows the feasible trajectory for smooth lane change in both cases. Collision prevention technique shows how collision can be avoided in case of previous vehicle.

AB - In recent years autonomous vehicle is becoming active research area. One of the most important feature of autonomous vehicle is lane-change without driver assistance and its important part of level 2 autonomy. Wrong maneuver can lead to serious accidents on highways. Lane-change of autonomous vehicle is challenging control problem and various techniques like model predictive control, cooperative lane change, geographical information system have been used in past to get lane-change maneuver. Lane-change problem can be divided into trajectory planning and trajectory control. The current work addresses lane change of autonomous vehicle by generating trajectory with quintic polynomial and controlling it with the help of controller(PID). Two cases are discussed for lane change; considering previous vehicle and without previous vehicle. Collision prevention technique is used in case of previous vehicle to avoid collision. Results obtained shows the feasible trajectory for smooth lane change in both cases. Collision prevention technique shows how collision can be avoided in case of previous vehicle.

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KW - lane-change

KW - trajectory control

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T3 - 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019

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EP - 335

BT - 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Mehmood A, Liaquat M, Bhatti AI, Rasool E. Trajectory Planning and Control for Lane-Change of Autonomous Vehicle. In 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 331-335. 8813737. (2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019). doi: 10.1109/ICCAR.2019.8813737

Trajectory Planning and Control for Lane-Change of Autonomous Vehicle

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

Fingerprint

Cite this