Multi-Objective Evaluation-Based Intelligent Networked Vehicle Lane Change Trajectory Planning And Tracking Control Algorithm Research

In recent years,the technical research of self-driving vehicles has gradually become an important research direction to promote the development of the automotive industry and the development of intelligent transportation,which can play a significant role in reducing traffic accidents,traffic congestion,assisting human driving and reducing driver’s time.Among them,vehicle lane changing behavior in urban road environment is an essential link in realizing autonomous driving.The research of trajectory planning algorithm based on intelligent networked vehicles considering the comfort,safety,lane changing efficiency and collision risk of vehicles in the process of lane changing is of great significance for realizing lane changing trajectory planning in urban road scenarios.Firstly,by analyzing the lane change behavior scenario of intelligent networked vehicles,the lane change process is divided into four steps,such as generation of lane change motive,selection of lane change lane,judgment of lane change gap and execution process of lane change,and the judgment of lane change gap and execution process of lane change are considered as the main research content of this paper.Then the commonly used lane change trajectory planning models are studied and compared and analyzed,and the fifth polynomial is selected as the lane change trajectory planning model in this paper,and finally the vehicle shape approximation circle modeling and vehicle dynamics modeling are carried out for the vehicle.For trajectory planning,this paper divides the lane change trajectory planning into horizontal and vertical five polynomial planning,obtains the state information of surrounding vehicles based on V2 V mode of intelligent networked vehicles,sets the starting point and end point information of vehicles,and designs the end point candidate set and lane change time set of vehicles,considers the comfort,safety,lane change efficiency and collision risk of vehicles in the process of lane change,and constructs multi-objective evaluation function.By defining different lane change requirements for different scenarios,using the hierarchical analysis method to take the weight coefficients in the objective function,and then perform real-time evaluation of the lane change trajectory clusters generated in the trajectory planning to select the optimal lane change trajectory,and consider two different working conditions,such as no sudden working condition and sudden working condition,based on Car Sim and Simulink for simulation verification,the results show that the designed multi-objective evaluation-based lane change The results show that the designed multi-objective evaluation-based trajectory planning algorithm is safe,reliable and good trackability.In order to realize the tracking control of the lane change trajectory,this paper adopts the decoupled transverse and longitudinal control,and considers the design of LQR transverse controller with feedforward control based on the established twodegree-of-freedom vehicle dynamics model for the problem of large transverse tracking error under model instability in transverse control.In the longitudinal control,the position-velocity dual PID longitudinal control is used to adjust the position error and velocity error to get the optimal control quantity,and the ideal driving torque and braking force are output through the developed throttle-brake calibration table to realize the longitudinal control.The combination of the longitudinal control and the simulation experiments are verified,and the results show the high tracking accuracy of the vehicle.A joint Prescan-Simulink-Car Sim simulation platform is built to verify and analyze different lane change simulation scenarios.The simulation results show that the algorithm designed in this paper can realize the automatic lane change process of the vehicle under the city road,the planned trajectory meets the vehicle driving constraints and different lane change requirements,the trackable performance is good,the designed controller can improve the stability and reliability of the vehicle in the control of the trajectory,and has high tracking accuracy.