Research On Automatic Lane Change Control Of Intelligent Connected Vehicle In Expressway

With the continuous development of vehicle engineering technology and information science technology,intelligent connected vehicles have become a breakthrough in the high-quality development of the automotive industry.The advanced driving technology basing on the Internet of Vehicles may completely change the way humans drive.Basing on related studies of traditional lane change and analyzes the characteristics and advantages of intelligent connected vehicles,this paper studies the autonomous lane change control process of intelligent lane-connected vehicles,and builds a complete lane change control model,which mainly includes intelligent network-connected vehicle autonomous lane change decision-making model,lane change trajectory planning model and autonomous lane change trajectory tracking control model.According to the existing research results,this paper summarizes the characteristics of the intelligent connected vehicles system and information interaction.On this basis,the data information and information acquisition methods needed for autonomous lane change are studied,and the lane change scene of intelligent connected vehicles is established.The autonomous lane change decision model is designed basing on the minimum safety distance.The model is divided into three parts: the generation of lane change demand,the lane change safety judgment and the lane change gain judgment,that is,the target vehicle’s own driving demands and its driving safety are taken into consideration.At the same time,the impact of the target vehicle lane change on other vehicles is also considered to ensure the driving efficiency of the entire traffic flow.This thesis analyzes and compares the commonly used lane-changing trajectory planning methods.According to different lane changing scenarios,the trapezoidal acceleration lane-changing trajectory and the five-time multi-form lane-changing trajectory are selected respectively when there is no car on the ideal lane and there is a car on the ideal lane.According to the characteristics of intelligent networked cars,the rules of lane changing trajectory planning are designed,combines with example analysis,the lane changing trajectory function is established.The decision process analysis is carried out in the case of special scenes that may encounter during the lane change process.The secondary planning of the lane change trajectory is carried out for the scene where the front vehicle suddenly brakes on the ideal lane.After analysis,the designed lane change trajectory satisfies the requirements on safety,and stability.Through researching on the dynamic and tire models of the vehicle,the dynamic model of the longitudinal,lateral and yaw motions of the intelligent connected vehicles is established,which provides a guarantee for the control of the intelligent connected vehicles lane-changing trajectory tracking.Considering that there are many external disturbances during the running of the vehicle,the sliding mode control is selected to track the lane change trajectory.According to the underactuated sliding modal control system,the position control rate and attitude control rate are designed and simulated by MATLAB/SIMULINK,which proves a good tracking effect.In order to verify the correctness and effectiveness of the intelligent connected vehicles autonomous lane change control process,a joint SIMSIM and MATLAB simulation model is established.The simulation results show that the target vehicle can change lanes at the right time and can smoothly transit from the original lane to the ideal lane along the designed lane change trajectory.