<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper describes trajectory planning for an Autonomous Vehicle (AV) in the freeway path. Three types of driving modes are analyzed. First was free flow, this constitutes that moving at the desired speed is determined at the beginning of the movement. Second case was car following, when overtaking or lane-change was impossible, distance or speed adaptation is executed using the variable acceleration/deceleration strategy. Third case was lane change or overtaking. For lane change or overtaking paths, the 5th degree polynomial is used to create a curvilinear path to changes its path to the left lane and then returns to its default lane. The velocity and relative distances of cars are main factors for decision making. All proper driving decisions algorithm is introduced. According to autonomous car desired velocity, in the two driving cases (fast and slow desired velocity for AV) are studied by simulation and their results analyzed and compared with together.</p>
</abstract>

This paper describes trajectory planning for an Autonomous Vehicle (AV) in the freeway path. Three types of driving modes are analyzed. First was free flow, this constitutes that moving at the desired speed is determined at the beginning of the movement. Second case was car following, when overtaking or lane-change was impossible, distance or speed adaptation is executed using the variable acceleration/deceleration strategy. Third case was lane change or overtaking. For lane change or overtaking paths, the 5th degree polynomial is used to create a curvilinear path to changes its path to the left lane and then returns to its default lane. The velocity and relative distances of cars are main factors for decision making. All proper driving decisions algorithm is introduced. According to autonomous car desired velocity, in the two driving cases (fast and slow desired velocity for AV) are studied by simulation and their results analyzed and compared with together.

Trajectory Planning of Autonomous Vehicle in Freeway Driving

Transport and Telecommunication Journal

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Trajectory Planning of Autonomous Vehicle in Freeway Driving"}

This paper describes trajectory planning for an Autonomous Vehicle (AV) in the freeway path. Three types of driving modes are analyzed. First was free flow,...

Trajectory Planning of Autonomous Vehicle in Freeway Driving

Published Online: Jun 22, 2021

Page range: 278 - 286

DOI: https://doi.org/10.2478/ttj-2021-0021

Keywords
Trajectory Planning, Autonomous Vehicle, Freeway, Overtaking

© 2021 Hashem Ghariblu et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Trajectory Planning of Autonomous Vehicle in Freeway Driving

Published Online: Jun 22, 2021

Page range: 278 - 286

DOI: https://doi.org/10.2478/ttj-2021-0021

KeywordsTrajectory Planning, Autonomous Vehicle, Freeway, Overtaking

© 2021 Hashem Ghariblu et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Trajectory Planning, Autonomous Vehicle, Freeway, Overtaking