Research On Lane Change Trajectory Tracking Control For Intelligent Vehicles

With the increasing demand for safety,energy saving,environmental protection,and comfortable transportation services,it has become the consensus of the world to accelerate the development of intelligent vehicle.Intelligent vehicle incorporates many advanced technologies such as wireless communication,intelligent interconnection,environment awareness,vehicle motion control,etc.These technologies symbolize the future direction of the automotive industry and are emerging industries in the context of the new round of scientific and technological revolution.Lane change is one of the most common actions in autonomous driving.According to the survey,5% of the traffic accidents caused by the casualties are related to the lane change.Therefore,the research on trajectory tracking control technology for changing scenes has a strong practical significance for reducing traffic accidents and improving traffic efficiency.The related technology of autonomous lane changing trajectory tracking control belongs to the category of smart driving technology.Currently,in a relatively special real environment,if it is expected that the autonomous driving activities of smart vehicles can achieve the basic intelligence and stability of mature drivers,it will take a certain period of time to develop.The current vehicle is within a specific lane change procedure,and the lane change duration is relatively short,and the vehicle speed therein can usually maintain a stable state.For the convenience of subsequent analysis work,the corresponding vertical speed for the vehicle is not calculated temporarily control.In the analysis,a brief analysis of the decision for autonomous changeover is firstly conducted.Based on the targeted research activities for the change of track characteristics,the design work is carried out based on the idea of adopting the minimum safety distance,and the elements such as security and personalization are calculated to develop the module.Design work.For the trajectory planning work,relying on the corresponding polynomials to achieve the ideal generating effect,and based on systematic analysis of the actual safety,stability and economical factors,the most ideal lane change trajectory is selected.For the actual trajectory tracking control work,the previous control scheme has a relatively strong dependence on the environment and parameters,and in the case where the overall environment has a significant dynamic change,some tracking control schemes fail toachieve an ideal Adaptation effect;for the driving link of the vehicle,there are more impacts of the implementing agencies,and at the same time when the speed is relatively high,the influence of dynamics needs to be considered,and there are certain road restrictions.Similar to the adhesion coefficient and so on.The previous algorithm is difficult to achieve ideal calculation results.The algorithm derived from this paper has the functions of precise pre-judgment and efficient multi-objective processing.It can scientifically construct basic constraints and achieve an ideal tracking effect.