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Design and Implementation of a Hybrid Path Planning Approach for Autonomous Lane Change Manoeuvre

  • Vehicle Dynamics and Control, Other Fields of Automotive Engineering
  • Published:
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Abstract

Autonomous vehicles are currently on their way and they have already started to gradually alter the fundamentals of the entire transport system. However, while in relatively near future, seeking to use their full potential during various urban traffic scenarios, further developments must be done in such fields as the sensing and perception, path planning and control. This research work focuses on the path planning problems and proposes a novel hybrid path planning approach, specifically designed for an important and complex urban scenario—the lane change manoeuvre. The proposed hybrid path planner consists of two classical path planning approaches: the Bézier curves approach, which served as a primary planner, and the rapidly exploring random trees approach, which was used as a supplementary planner. The entire development process of the hybrid path planner is described systematically and in detail. To verify the efficiency of the proposed hybrid path planner, experimental test drives, while using an autonomous research vehicle, were performed. The experimental results indicated that the real-time performance of the proposed hybrid path planning approach is effective and reliable. The path generated by the proposed hybrid approach is feasible, continuous, and can be executed by the autonomous vehicle.

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Data availability

Datasets analyzed are available from the corresponding author.

Abbreviations

\(\delta\) :

Steering angle values for the autonomous vehicle control, °

\(E_i\) :

Geometrical borders of the environment, in which nodes and random tree branches are generated

\(L_{av}\) :

Length of the autonomous vehicle, m

\(L_{sv}\) :

Length of the surrounding vehicle (obstacle), m

\(N\) :

Number of nodes, generated while applying rapidly-exploring random trees approach

\({\textbf{P}}_i\) :

Control points which defines the Bézier curve

\(P_{i_X }\) :

Coordinate x of the control point for the Bézier curve

\(P_{i_Y }\) :

Coordinate y of the control point for the Bézier curve

\(S_0\) :

Longitudinal distance at which the lane change manoeuvre should begin, m

\(S_1\) :

Longitudinal distance after which the autonomous vehicle will catch up to the surrounding vehicle, m

\(S_2\) :

Longitudinal distance after which the autonomous vehicle has to finish the lane change manoeuvre, m

\(S_D\) :

Safety distance, m

\(S_{\min }\) :

Minimal safe longitudinal distance between the autonomous vehicle and the surrounding vehicle, m

\(t_B\) :

Parameter used to interpolate the Bézier curve, \(t_B \in \left[ {0,1} \right]\)

\(t_d\) :

Assumed delay time of path planner, s

\(t_m\) :

Assumed time length of the lane change manoeuvre, s

\(v_{av}\) :

Velocity of the autonomous vehicle, m/s

\(v_{sv}\) :

Velocity of the surrounding vehicle (obstacle), m/s

\(W_{av}\) :

Width of the autonomous vehicle, m

\(W_{sv}\) :

Width of the surrounding vehicle (obstacle), m

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Authors and Affiliations

  1. Department of Mobile Machinery and Railway Transport, Faculty of Transport Engineering, Vilnius Gediminas Technical University, 10105, Vilnius, Lithuania

    Paulius Skačkauskas, Mykola Karpenko & Olegas Prentkovskis

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  1. Paulius Skačkauskas
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  2. Mykola Karpenko
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  3. Olegas Prentkovskis
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Correspondence to Paulius Skačkauskas.

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Skačkauskas, P., Karpenko, M. & Prentkovskis, O. Design and Implementation of a Hybrid Path Planning Approach for Autonomous Lane Change Manoeuvre. Int.J Automot. Technol. 25, 83–95 (2024). https://doi.org/10.1007/s12239-024-00014-w

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