Multi Vehicles Cooperative Lane Changing And Merging Control

Multi vehicles cooperative control system is an important part of intelligent transportation system,The system significantly improve the current highway system efficiency and safety of operation via cooperatively controlling intelligent vehicles.Multi vehicles lane changing and merging are key technologies for platoons to complete complex tasks.Therefore,the paper focuses on multi vehicles lane changing and merging problems in the following aspects:Firstly,establishing world coordinate system and body coordinate system to describe the pose of intelligent vehicles.The kinematics model and the dynamic model are established,which lay the foundation for the design of multi vehicles lane changing and merging controller.Secondly,considering the trajectory planning is a necessary condition to achieve multi vehicles lane changing and merging,this paper makes trajectory planning for multi vehicles without obstacle vehicle ahead and with obstacle vehicle ahead respectively through polynomial trajectory planning method.Moreover,designing the deferent multi vehicles lane changing strategies for communication unblocked condition and communication limited condition.And complete the design of multi vehicles communication timing,security strategy and merging strategy.Then,this paper designs the sliding mode trajectory tracking controller based on Backstepping,realizing the multi vehicles lane changing and merging trajectory tracking.The stability of the controller is proved by Lyapunov stability theorem.And verify the validity and rationality of the controller via tracking circular trajectory and multi vehicles lane changing trajectory in MATLAB simulation.Finally,through the design and establishment of intelligent traffic simulation system,communication system,lane tracking and speed control system are tested,achieving the tracking of multi vehicles lane changing and merging trajectory and verifying the effectiveness of the proposed controller.