Active Lane-Changing Control of Intelligent Vehicle on Curved Section of Expressway. (27th May 2022)

• Record Type: Journal Article
• Authors: Feng, Pengfei; Jin, Huiqing; Zhao, Linfeng; Lu, Mingyu
• Other Names: Al Basir Fahad Academic Editor.
• Is Part Of: Modelling and simulation in engineering. Volume 2022(2022)
• Publication Date: 2022-05-27
• Subjects: Engineering -- Simulation methods -- Periodicals; Engineering -- Mathematical models -- Periodicals; 620.004
• DOI: 10.1155/2022/9374118
• Languages: English
• ISSNs: 1687-5591

Abstract

Abstract : In order to improve the intelligent vehicle lane-changing performance, an active lane-changing control algorithm is proposed considering the changes of road curvature and vehicle speed. Firstly, the vehicle dynamics model considering vehicle speed variation and lane-changing safety distance is established, and the expected lane-changing trajectory model under the curved road is designed simultaneously. Then, taking the yaw rate and longitudinal speed as the control objectives of lateral and longitudinal motions, respectively, the sliding-mode variable structure control method based on Lyapunov stability condition is adopted, and the trajectory tracking controller is designed by combining the inverted method to track the desired lane-changing trajectory. Finally, the lane-changing trajectory model and trajectory tracking controller are verified in simulation platform of CarSim/Simulink and hardware-in-the-loop (HIL) test bench. The results show that the proposed trajectory tracking control method can perform the lane-changing behavior well under different road curvatures and vehicle speeds while maintaining high trajectory tracking control accuracy.