The Study On Vehicles’ Motion Controller And Dynamics Model For The Lane-changing

As a common driving behavior, lane-change has a very important influence ontraffic safety. During lane change operation, the relative distance between the vehicleand other vehicles plays an important role on the vehicles’ safety. Therefore, theresearch on the safe distance between vehicles in the process of changing lanes has animportant practical significance. Due to the danger of vehicle driving experiments, thesimulation was used to determine the safe distance between the vehicles.In the simulation environment, based on Preview-followed theory, an idealvirtual reference trajectory which could reflect the driver’s driving behavior wasselected. The lane changing trajectory tracking control algorithm was established toachieve the control Objection of the vehicle’s steering wheel in the simulationenvironment of PreScan and Simulink.Targeting in strong nonlinear characteristics of speed control, the traditionalcontrol methods are difficult to achieve precise control of velocity. Taking theintelligence of fuzzy control and the stability of PID into account, a fuzzy self-tuningPID controller which has a higher control precision was established; based on powerbalance principle, the inverse engine model was modeled to achieve vehicles’acceleration control.In order to establish the vehicle’s dynamic model which would reflect thevehicle’s dynamics characters, the experiments of acceleration and steering werecarried out. The vehicle dynamics model which could reflect the vehicles’ realcharacters in the performance of steering and power was established by adjusting theparameters of powertrain and steering system in the professional vehicle dynamicssimulation software.After the direction and speed control during the lane-change and the vehicles’dynamic model were established, the collision distance between vehicles was studied,and the safe distance was got.