This paper presents a trajectory replanning control method for semi-autonomous vehicle to vehicle (V2V) systems. A trajectory generating model for lane-changing maneuver is integrated into the driver-vehicle system. Based on this system, both risk of collision and lane-exchanging intentions of the drivers can be considered in the trajectory replanning. A model predictive control (MPC) with parameters of a discretized nonlinear system is proposed to realize the optimization objectives of satisfying the drivers' maneuvering intentions and reducing the collision risk. The optimization problem is subject to the constraints consisting of human driver preferences, driving habits, and driving ability of the drivers. Simulations are conducted to verify the validity of the MPC controller and to demonstrate the controller's performance and robustness for the reduction of collision risk in scenarios of different initial conditions. The results show that the proposed controller can satisfy drivers' intentions while avoiding collision.
['Jinxiang Wang', 'Junmin Wang', 'Rongrong Wang']
Trajectory replanning in V2V lane exchanging with consideration of driver preferences