Research On Control Technology Of Intelligent Vehicle Expressway Lane-changing Behavior

High-speed lane changing is a kind of driving behavior that easily causes traffic accidents and congestion,which seriously affects driving safety and efficiency of the traffic system.The research on intelligent vehicle lane changing behavior control technology is an effective means to prevent accidents.This paper takes high-speed lane-changing scene as the research object,in order to achieve a safer,more comfortable and efficient lane-changing for intelligent vehicles,the lane-changing behavior decision-making,trajectory planning and trajectory tracking control algorithm in intelligent vehicle lane-changing behavior control technology are studied.In order to reasonably assess the safety situation of vehicle lane changes and improve the accuracy and safety of vehicle lane change decisions,through analysis of driver lane change process and highway driving environment,the driver’s lane change incentives and lane change intentions are extracted Factors,and establish a two-lane micro lane-changing model,determine the minimum lane-changing safety distance as the lane-changing safety threshold based on critical collision conditions and following safety requirements,and extract the vehicle lane-changing rules based on the safety threshold,using Simulink/Stateflow establishes a Finite State Machine for lane change decisions that conforms to the driver’s decision process,enabling intelligent vehicle lane change decision control.Secondly,according to the riding comfort and lane-changing efficiency requirements of lane-changing trajectory planning,the highway auto-driving decision-making framework is analyzed,the generation strategy of vehicle lane-changing trajectory is studied,and an optimized objective function considering lane-shifting lateral acceleration and lane-changing time indexes is established,and design the optimal lane change trajectory planning controller based on the lane change constraints.Then build a trajectory tracking controller based on model predictive control,build a three-degree-of-freedom nonlinear dynamic equation of the vehicle,and use a discrete linearization method to design a predictive model of the lane change trajectory controller,and design an objective function based on lane change requirements and constraints.Through the quadratic programming solution,the optimal control amount of the lateral movement of the lane change is obtained,and the performance of the controller is verified under the double shift line and polynomial trajectory tracking conditions.Finally,the lane change behavior control algorithm is verified based on the Pre Scan/Simulink joint simulation platform.The results show that: the lane change decision model can reasonably evaluate the lane change safety situation,generate lane change instructions,ensure the lane change process is safe,and use the optimal trajectory change The trajectory tracking controller effectively improves the lateral stability of the vehicle at high speed while satisfying the trajectory tracking control.The control output of the controller is smooth,the performance of the controller and the stability of the vehicle are good,and the trajectory tracking accuracy is high.Tao behavior control requirements.