Multi-vehicle Cooperative Lane Change Trajectory Planning And Path Tracking Control For Intelligent Vehicles

Based on the characteristics of low-carbon,intelligent,networked and sharing,smart cars are widely concerned by scholars because they can improve the safety of car driving and reduce the probability of road traffic accidents to a large extent,etc.With the rapid development of vehicle networking technology,vehicle cooperative driving is the key technology for intelligent transportation.In the longitudinal following,the cooperative formation driving based on CACC has been very mature,and its research content mainly focuses on the system structure design of multi-vehicle cooperative driving of intelligent vehicles,and the research on the control algorithm of pilot vehicle and the cooperative control algorithm of following vehicle is relatively small;based on this paper,we mainly study the problem of multi-vehicle cooperative lane changing from the control architecture of cooperative lane changing of intelligent vehicles,lane changing trajectory planning,path tracking controller design.In this paper,we focus on the control architecture,lane change trajectory planning and path tracking controller design of multi-vehicle cooperative lane change,aiming to improve the safety,stability and comfort of lane change.In the context of vehicle-vehicle communication,the control architecture of cooperative lane change is built and divided into four parts: data sending and receiving module,trajectory planning module,trajectory tracking control module,and execution module.Various cooperative lane-changing scenarios are analyzed,and the characteristics and feasibility of lane-changing in different scenarios are summarized.The multi-vehicle cooperative planning theory based on vehicle-vehicle communication is also introduced,and the lane-changing decisions of two scenarios are analyzed: good data reception and simultaneous lane-changing of all vehicles,and delayed lane-changing of vehicles due to delayed data reception.The path planning of the pilot car in the two cases of no vehicles in the current lane and no vehicles in the target lane and no vehicles in the target lane with vehicles in the current lane is carried out by using the fifth polynomial to restrict the transverse and longitudinal acceleration of the smart car when changing lanes,deriving the acceleration formula of the transverse and longitudinal direction when changing lanes by using the fifth polynomial equation,and determining the lane change based on the transverse displacement and initial longitudinal velocity when changing lanes,etc.Based on the premise that all vehicles change lanes at the same time,the two-vehicle collaborative lane change scenario is simulated and verified,and the results show that a smooth and continuous lane change trajectory can be obtained by using the quintic polynomial for lane change trajectory design.The path tracking controller of MPC is designed from four aspects: vehicle dynamics model,model prediction principle,design of tracking controller,and design of model prediction control simulation module;meanwhile,the longitudinal trajectory tracking of smart car is controlled by position and velocity dual-loop PID controller,and the design idea of PID controller is introduced;then,the path tracking error model,LQR controller design Finally,to verify the feasibility of the built intelligent vehicle trajectory tracking controller,a joint Prescan/Carsim/Simulink simulation is conducted to apply two different control algorithms,MPC and LQR,to the scenario of two vehicles changing lanes together,and the two cases are compared and analyzed.analysis,and finally verified that the MPC-based lateral controller is relatively better in terms of safety,stability and comfort.