@inproceedings{67752d743a4c4474b11312e1e5e246fb,
title = "A Pseudospectral Strategy for Lane Change Maneuver of Automated Vehicles on the Highway",
abstract = "This paper presents a pseudospectral strategy for lane change maneuvers of automated vehicles on the highway. This strategy can optimize the longitudinal and lateral control simultaneously to account for the coupled vehicle dynamics while adapting to the dynamical traffic environment. First, the modeling of vehicle dynamics and lane change process are developed. Accordingly, a finite state machine with different lane change behaviors is designed. Then, the dynamical vehicle-traffic systems are evaluated and categorized with a state occupancy grid model to consider the impact of interactions with traffic systems. Finally, the control of the automated vehicles for lane change maneuvers are formulated as multi-stage optimal control problems (OCPs), and solved with the hp-adaptive pseudospectral strategy. The proposed approach is validated through a simulation result.",
author = "Kai Liu and Jianwei Gong and Chao Lu and Yu Zhang and Huiyan Chen",
note = "Publisher Copyright: {\textcopyright} 2018 American Society of Civil Engineers.; 18th COTA International Conference of Transportation Professionals: Intelligence, Connectivity, and Mobility, CICTP 2018 ; Conference date: 05-07-2018 Through 08-07-2018",
year = "2018",
doi = "10.1061/9780784481523.013",
language = "English",
series = "CICTP 2018: Intelligence, Connectivity, and Mobility - Proceedings of the 18th COTA International Conference of Transportation Professionals",
publisher = "American Society of Civil Engineers (ASCE)",
pages = "134--145",
editor = "Xiaokun Wang and Yu Zhang and Diange Yang and Zheng You",
booktitle = "CICTP 2018",
address = "United States",
}