Research On The Cooperative Control Of Lane Keeping And Lane Changing Of Intelligent Vehicles

With the implementation and application of the research results of artificial intelligence and the maturity of 5G communication technology,it has greatly promoted the development of automobile in intelligence and network connection.There are more and more research competitions and road tests on unmanned vehicles,and some related problems are gradually exposed.This paper focuses on the collaborative control of lane keeping and lane changing of intelligent vehicles to realize the precise control of lateral movement of intelligent vehicles.Firstly,the monorail lateral model of the vehicle with four-wheel steering is built.Considering the time-varying bounded uncertain parameters and vehicle slowly varying unknown two situations,different lane keep control law was designed,based on the quasi sliding mode variable structure control can restrain chattering,the advantages of designing a switching function contains saturated function,completed the driveway to keep the design of the controller,and the stability of the control system is proved with Lyapunov stability theory.Matlab software simulation verifies the accuracy of the control system.The expected lateral acceleration rate of intelligent vehicle lane change is designed and the track of lane change is calculated.Considering the problem of sideslip that is easy to occur in lane changing of vehicles,based on the control method of terminal sliding mode variable structure,a controller which takes the vehicle yaw Angle error and the vehicle sideslip displacement as the control target is designed,and the uncertainty parameters of the vehicle are estimated online by direct adaptive method.Similarly,Lyapunov function was used to analyze the stability of the control system,and Matlab software simulation was used to verify the precise control of vehicle lane change.A two-degree-of-freedom steady-state rotary vehicle dynamics model with both accuracy and real-time performance was built,and the accuracy of the trajectory was verified by Carsim software.The main car as an independent unit,the main vehicle body coordinate system,established the contains around the searching space of dynamic traffic information,and to consider the transportation vehicle motion uncertainty factors,surrounding vehicles wheel Angle trajectory cluster of probabilistic search space dynamic obstacles,to predict main car wheel Angle trajectory cluster,safety and comfort evaluation index,using to track decision,selecting the optimal trajectory.Combined with lane keeping control and lane change control of intelligent vehicle,a transitional cooperative controller was designed,and the feasibility of the transitional controller was verified by simulation.The trajectory of lane holding and vehicle lane change is planned by the trajectory prediction method which takes into account the uncertain factors.The global fast terminal sliding mode control method is adopted to design a cooperative controller for four-wheel steering.The stability of its control system is analyzed.Combined with the current development of vehicles,and the front and rear wheel steering cooperative controller was designed,and the control effect at high speed was verified by simulation.