Study On Autonomous Lane Changing Control Method Of Intelligent Vehicle

The development of intelligent transportation system(ITS)has changed the traditional traffic rules and driving modes,in which the research of intelligent vehicles excludes the subjective factors of the driver,thus greatly improves the transportation efficiency and ensures the traffic safety.In daily driving behavior,lane change is the most common cause,which is also the main reason for road congestion and traffic accidents.The research of lane changing method of intelligent vehicle can make vehicle safer,more efficient and comfortable when changing lane autonomously.This paper is based on the vehicle in dynamic environment for independent execution layer research method of trajectory tracking control,the first is to establish the dynamics model of the vehicle and combined with the linear tire model,through the preview follow theory to establish the preview dynamic model,then the vehicle dynamics model and visual preview model of intelligent vehicle preview dynamic model.Because of the trajectory tracking control of vehicle during lane changing can be decomposed into lateral path following control and longitudinal speed control,two controllers are designed respectively.Feed forward and feedback system was designed in the lateral path following controller,the feed forward controller to obtain ideal state parameters during vehicle operation as a reference input in the feedback control by using the optimal control theory in modern control theory,established two linear quadratic performance index based on preview vehicle dynamic model,through a large number of the simulation chooses the appropriate control law to achieve the path following.In the longitudinal speed controller design,the transfer function of vehicle longitudinal velocity is established,combined with the PID control theory,the appropriate proportion,integral and differential coefficient are selected to design the controller,so as to achieve speed following.Finally,the closed loop simulation test of intelligent vehicle automatic lane change is designed with the driver model and the closed loop road simulation test.The system model is built by Matlab/Simulink to verify the rationality of the controller.