Research On Lateral Control Strategy For Automatic Lane Changing Of Intelligent Vehicles

With the growth of car ownership,traffic accidents also increased increasingly.Research on the driving safety of cars has "been the focus of world.The data shows that man-made driving mistakes are the main cause of most traffic accidents.The research and development of intelligent vehicles will effectively reduce the human error rate in the driving process.As the development trend of future vehicles,smart vehicles have focused on the intersectional integration of multiple disciplines such as vehicle engineering,control theory,communications,and pattern recognition.Intelligent vehicle assisted driving technology is a research hotspot.In this paper,some exploration and research on safe automatic lane changing system in assisted driving technology are made.In the lane change system,the requirements for driving safety are more stringent.Some research has been done on lane detection,straight-line road change control,curved road change control,and hardware-in-the-loop simulation test bench construction.For vehicles during lane change,driving safety requirements more stringent.We have done some research on lane detection,lane change control for straight road and curved road,and hardware-in-the-loop simulation test bench construction.The lane detection is a key precondition for the vehicle lane change system.In this paper,the road lane line is extracted based on the method of color space conversion.A variety of edge detection operators are compared.Canny edges are detected using canny operator.Finally,lane lines are drawn through Hough transform.This method works better when detecting lane lines under shadow.In this paper,the automatic lane change control for straight roads and the automatic lane change control for curved roads are studied in the course of changing lanes.During the lane change action,considering slip characteristics of the tire,a 7-DOF vehicle dynamics model is used.Analyzes and compares several lane change model and determines the lane change model with constant speed offset and sine function.A sliding mode controller based on exponentially convergent disturbance sensor is designed on the straight road.The controller can be effectively solved because the larger part of the system's unmodeled part and disturbance require larger switching gain,resulting in larger chattering.And the tracking accuracy can be guaranteed.A straight line lane changing operation is extended to the curved road,and the curvature of the lane between inside and outside lane is considered.A sliding mode controller based on exponential reaching rate is designed.Simulation based on Matlab/Simulink verifies the effectiveness of the controller.In the process of lane change,it is mainly used to track the lane change path of real-time planning.In order to verify the effectiveness of the designed controller and the development of follow-up experiments,a hardware-in-the-loop simulation experimental platform based on Lab VIEW RT and CarSim co-simulation was set up,which can lay a foundation for the follow-up real vehicle experimental research.Through experiments,the tracking of the system path indicates that the built hardware-in-the-loop bench has better tracking capability.