Research On The Trajectory Planning And Control For Automatic Lane Change Of Intelligent Vehicles On Highway

Highway autopilot is a hot spot in current smart driving research.Because the highway is relatively simple due to its closed nature,it is the fastest scene that can be landed in intelligent driving research.When the vehicle is driving on the highway,the lane change is the behavior of the vehicle with extremely high frequency.At the same time,in the process of changing lanes,traffic accidents and road congestion are easy to occur.Therefore,it is extremely necessary and meaningful to study the automatic lane change of expressways.Realizing automatic lane change means that the vehicle must be able to independently plan the lane change trajectory.The vehicle lane change trajectory determines whether the smart vehicle vehicle is safe,comfortable and fast during driving.In this study,the analysis of various trajectory curves,including the constant velocity migration model,the arc-changing model,the trapezoidal lateral acceleration,and the cosine function model,and focusing on the equal-speed offset and sinusoidal function The model is compared with the fifth-order polynomial lane change model.Finally,the velocity offset and sine function superposition lane change model are selected for trajectory planning during the lane change process.After the trajectory planning module outputs a reasonable lane-changing trajectory,the trajectory following module can be accurately followed.In this paper,a fuzzy pretargeting error control model based on fuzzy PID is designed.The model sets the far and near two preview distances,interpolates the points on the ideal trajectory to select the far and near two preview points,and uses the fuzzy PID for the near lateral preview error to control the far preview point.The truth table is used to select the appropriate PID parameters to control.At the same time,since the position of the vehicle is represented by the latitude and longitude provided by the GPS in the movement of the actual vehicle,in order to facilitate the subsequent experiments,the position information output by the Carsim vehicle is now converted into the latitude and longitude.Then,through the joint simulation of Carsim and Simulink,the trajectory of different longitudinal lane change distances under each vehicle speed is tracked,and the controller is evaluated based on the deviation between the actual trajectory and the ideal trajectory.Finally,in order to further verify the trajectory planning and trajectory following algorithm of automatic lane change,based on a smart driving test vehicle and based on MicroAutobox for rapid prototype real vehicle verification,the trajectory planning comfort,safety,and follow-up control are further verified.Accuracy.