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NIE Zhi-gen, WANG Wan-qiong, ZHAO Wei-qiang, HUANG Zhen, ZONG Zhang-fu. Dynamic trajectory planning and tracking control for lane change of intelligent vehicle based on trajectory preview[J]. Journal of Traffic and Transportation Engineering, 2020, 20(2): 147-160. doi: 10.19818/j.cnki.1671-1637.2020.02.012
Citation: NIE Zhi-gen, WANG Wan-qiong, ZHAO Wei-qiang, HUANG Zhen, ZONG Zhang-fu. Dynamic trajectory planning and tracking control for lane change of intelligent vehicle based on trajectory preview[J]. Journal of Traffic and Transportation Engineering, 2020, 20(2): 147-160. doi: 10.19818/j.cnki.1671-1637.2020.02.012
shu

Dynamic trajectory planning and tracking control for lane change of intelligent vehicle based on trajectory preview

doi: 10.19818/j.cnki.1671-1637.2020.02.012
  • 1.

    Faculty of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, Yunnan, China

  • 2.

    Laboratory of Information and Systems, Marseille 13397, RhoneEstuary, France

  • 3.

    State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, Jilin, China

Funds:

National Natural Science Foundation of China 51705225

Chinese Scholarship Council Foundation 201801810050

Research Start-up Fund for Talent Introduction of Kunming University of Science and Technology KKSY201602009

More Information
  • Author Bio:

    NIE Zhi-gen(1983-), male, associateprofessor, PhD, E-mail: niezhigen@126.com

  • Corresponding author: NIE Zhi-gen(1983-), male, associate professor, PhD, E-mail: hanpingcauc@163.com
  • Received Date: 2019-11-11
  • Publish Date: 2020-04-25
    Abstract
  • To obtain the control for lane change of intelligent vehicle in the actual dynamic traffic environment, the dynamic trajectory planning and tracking control strategy for the lane change of intelligent vehicle based on the trajectory preview was proposed. Aiming at the speed and acceleration changes of vehicles in the target lane in the actual traffic environment, a dynamic planning algorithm for the lane change trajectory of intelligent vehicle was proposed. The maximum longitudinal length of lane change trajectory of intelligent vehicle was obtained to avoid the collision. The optimization objective function considering both the lane change efficiency and the passenger comfort was designed to obtain the real-time dynamic optimal lane change trajectory within the maximum longitudinal length of lane change trajectory. The humanoid steering control method combining the trajectory preview feedforward with the state feedback was used to achieve the optimal controls of dynamic trajectory tracking and passenger comfort for the lane change of intelligent vehicle, and the proposed control strategy was verified on the hardware-in-loop test bench. Research result shows that under the constant speed condition, the lateral displacement and heading angle deviations between the actual and reference trajectories and the maximum lateral acceleration are 1.4%, 4.8% and 0.59 m·s-2, respectively. Under the constant acceleration condition, the lateral displacement and heading angle deviations between the actual and reference trajectories and the maximum lateral acceleration are 1.1%, 4.6% and 0.48 m·s-2, respectively. Under the intense condition of variable acceleration, the lateral displacement deviation between the actual and reference trajectories and the maximum lateral acceleration are 1.7% and 0.80 m·s-2, respectively, and the heading angle can quickly re-track the dynamic trajectory heading angle after the overshooting. Therefore, in the actual traffic environment, the proposed control strategy can well track and control the dynamic lane change trajectory of intelligent vehicle under the conditions that the vehicles in the target lane are in the constant speed, constant acceleration, and variable acceleration. Thus, it can realize the optimal lane change of intelligent vehicle, avoid collisions with vehicles in the target lane during the lane change process, and take into account both the lane change efficiency and the passenger comfort.

     

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