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- W2973178145 abstract "A vehicle-to-vehicle (V2V) cooperative trajectory-planning algorithm for connected vehicles driven on a winding road considering characteristics of human drivers is presented in this paper. The algorithm of cooperative game is introduced to plan collision-free trajectories for the involved encountering vehicles, with satisfaction of the safety requirements including vehicle stability and road-departure avoidance. The trajectory-planning algorithm is then converted to a Model Predictive Control (MPC) problem and solved with the concept of Pareto Optimality. The algorithm is compared with a V2V trajectory-planning algorithm with non-cooperative game. Simulations are conducted in the scenarios of lane-exchange on arc shaped roads with different radius to verify the proposed algorithm. Results show that the algorithm can accomplish the task of trajectory-planning on either winding road or straight road successfully, considering the driver's characteristics. The difference of collaboration tendency in V2V driving between using cooperative algorithm and non-cooperative algorithm is also studied and described." @default.
- W2973178145 created "2019-09-19" @default.
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- W2973178145 date "2019-01-01" @default.
- W2973178145 modified "2023-10-15" @default.
- W2973178145 title "Design of a Cooperative V2V Trajectory-Planning Algorithm for Vehicles Driven on a Winding Road With Consideration of Human Drivers’ Characteristics" @default.
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- W2973178145 doi "https://doi.org/10.1109/access.2019.2941053" @default.
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