Research On Autonomous Lane Changing Control Method For Intelligent Vehicles

In recent years,the automobile industry has continuously innovated in technology in order to adapt to the development of the times.With its advanced sensors and Internet of Vehicles technology,smart cars can help reduce the congestion of vehicles on the road,reduce the rate of vehicle accidents,and protect people’s lives.Safety.Lane changes are very common during driving.Data shows that part of the cause of traffic accidents is caused by the vehicle’s lane change.Therefore,the study of autonomous vehicle lane changing is very important.This article mainly conducts research from three aspects: autonomous vehicle lane changing decision-making,trajectory planning and trajectory tracking.(1)Through the analysis of the lane-changing behavior of vehicles,this article focuses on the situation of free lane-changing.Then,by simplifying the lane-changing scene,introducing the expected speed and the expected vehicle distance to describe the vehicle’s lane-changing intention,and finally creating the minimum safe distance model for lane-changing,so as to further ensure the safety and feasibility of lane-changing.Through the comparative experiment of the two ways of changing lanes at uniform longitudinal speed and uniform acceleration,it is concluded that the vehicle longitudinal uniform acceleration lane changing is more feasible than the uniform speed lane changing under the same conditions,thus verifying the correctness of the lane changing safety distance model.(2)Then build a lane-changing trajectory model based on a fifth-order polynomial function,and determine the lane-changing trajectory function according to the vehicle state at the initial and ending moments of the lane change.The simulation results show that the trajectory changes continuously,smoothly,and conforms to the actual situation.At the same time,considering the comfort and efficiency of lane-changing,the lane-changing trajectory optimization controller is designed,combined with the constraints and the weight coefficient is introduced for analysis,and the optimal lane-changing time under different weight ratios is obtained,which makes the vehicle’s lane-changing trajectory More optimized.(3)By establishing a simplified vehicle dynamics model,a linear model predictive controller is created to track the lane-changing trajectory.The controller takes the front wheel angle of the vehicle as the control quantity,and adds the control input quantity constraint,output quantity constraint and control increment constraint,and transforms it into a quadratic programming situation,and then optimizes the solution to complete the control of the entire system.The simulation results show that the established predictive control model has good trajectory tracking ability,and the vehicle can change lanes safely and stably.At the same time,the reasonable selection of controller parameters helps to improve the accuracy and stability of trajectory tracking.(4)Finally,a joint simulation experiment was set up in Prescan,Carsim and Matlab,simulation parameters and comparison experiments were set up,and the results were all within the constraints,and the vehicle could safely and smoothly change lanes independently,thus verifying the feasibility of the vehicle autonomous lane changing method in this paper.