Study on Lane-Change Replanning and Trajectory Tracking for Intelligent Vehicles Based on Model Predictive Control

When an intelligent vehicle changes lanes, the state of other vehicles may change, which increases the risk of collision. Therefore, real-time local path replanning is needed at this time. Based on model predictive control (MPC), a lane-change trajectory replanning strategy was proposed, which was d...

Full description

Saved in:

Bibliographic Details
Published in:	World electric vehicle journal 2023-08, Vol.14 (9), p.234
Main Authors:	Li, Yaohua, Zhai, Dengwang, Fan, Jikang, Dong, Guoqing
Format:	Article
Language:	eng
Subjects:	Autonomous vehicles Collision avoidance Collisions Controllers Efficiency intelligent vehicle Intelligent vehicles Lane changing lane-change replanning model predictive control Modules Planning Predictive control Risk Roads & highways Stability Strategy Tracking Traffic accidents & safety Trajectory control Trajectory planning trajectory tracking
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	When an intelligent vehicle changes lanes, the state of other vehicles may change, which increases the risk of collision. Therefore, real-time local path replanning is needed at this time. Based on model predictive control (MPC), a lane-change trajectory replanning strategy was proposed, which was divided into a lane-change trajectory correction strategy, a lane-change switchback strategy and forward active collision avoidance strategy according to collision risk. Based on the collision risk function of the rectangular safety neighborhood, the objective functions were designed according to the specific requirements of different strategies. The vehicle lateral controller based on MPC and the vehicle longitudinal motion controller were established. The longitudinal velocity was taken as the joint point to establish the lateral and longitudinal integrated controller. The trajectory planning module, trajectory replanning module and trajectory tracking module were integrated in layers, and the three trajectory replanning strategies of lane-change trajectory correction, lane-change switchback and forward active collision avoidance were respectively simulated and verified. The simulation results showed the trajectory replanning strategy achieves collision avoidance under different scenarios and ensures the vehicle’s driving stability. The trajectory tracking layer achieves accurate tracking of the conventional lane-change trajectory and has good driving stability and comfort.
ISSN:	2032-6653 2032-6653