Research On Tracking Control Of Unmanned Vehicle Lane Change

With the development of technologies such as computers,AI,and automated control,autonomous driving has become an important direction for the development of the automobile industry and transportation industry in the new century,and lane change control is one of the most critical and practical issues for realizing autonomous driving.The study of vehicle lane change generally consists of two parts,one is lane change trajectory planning,and the other is lane change tracking control.In terms of lane change trajectory planning,since the service object of driverless cars is driver and passenger,this article proposes to select the vehicle’s lane change trajectory model to analyze the acceleration of the vehicle when changing lanes,so as to ensure the driver’s performance while ensuring driving safety.Comfort.In terms of lane change tracking control,as the vehicle is driving,factors such as steering,up and down passengers will affect the parameters of the vehicle itself,and the complex external driving environment will also interfere with vehicle control.Therefore,this paper proposes a vehicle lane change controller.The selection and design of the anti-interference ability should be emphasized.In this research,the vehicle dynamics modeling is carried out first,and the accuracy of the model is verified by Carsim simulation software.When selecting the trajectory,it is considered that the lateral acceleration of the vehicle when changing lanes should be reduced as much as possible under the premise of satisfying the constraints of the lane change,so as to meet the safety and comfort of the driver and the passenger.By comparing the lateral velocity and acceleration of the constant velocity migration lane change model,arc-straight lane change model,sine function trajectory model,constant velocity migration—sine function lane change model,and polynomial model,the fifth-order polynomial is finally used for the process.Lane change trajectory design.After determining the lane change trajectory,the vehicle is required to follow the desired trajectory as accurately as possible.First,the traditional PID is used for control,and then based on the defects of the existing controller,it is optimized step by step into a linear active disturbance rejection controller and its tracking Finally,the controller was redesigned for this research,and an improved linear active disturbance rejection controller was proposed and applied to lane change tracking control.After experiments,the tracking error was below 0.01%,and the joint simulation based on Carsim and Simulink was carried out.Verify the rationality of the controller.