Active Lane-Changing Control of Intelligent Vehicle on Curved Section of Expressway

• Published in: Modelling and simulation in engineering Vol. 2022; pp. 1 - 12
• Main Authors: Feng, Pengfei, Jin, Huiqing, Zhao, Linfeng, Lu, Mingyu
• Format: Journal Article
• Language: English
• Published: New York Hindawi 27-05-2022; Hindawi Limited
• Subjects: Active control; Algorithms; Control algorithms; Control methods; Control systems design; Control theory; Controllers; Design; Hardware-in-the-loop simulation; Intelligent vehicles; Lane changing; Mathematical analysis; Planning; Sensors; Sliding mode control; Tracking control; Traffic speed; Trajectory control; Variable structure control; Vehicles; Yaw
• ISSN: 1687-5591; 1687-5605
• DOI: 10.1155/2022/9374118

In order to improve the intelligent vehicle lane-changing performance, an active lane-changing control algorithm is proposed considering the changes of road curvature and vehicle speed. Firstly, the vehicle dynamics model considering vehicle speed variation and lane-changing safety distance is established, and the expected lane-changing trajectory model under the curved road is designed simultaneously. Then, taking the yaw rate and longitudinal speed as the control objectives of lateral and longitudinal motions, respectively, the sliding-mode variable structure control method based on Lyapunov stability condition is adopted, and the trajectory tracking controller is designed by combining the inverted method to track the desired lane-changing trajectory. Finally, the lane-changing trajectory model and trajectory tracking controller are verified in simulation platform of CarSim/Simulink and hardware-in-the-loop (HIL) test bench. The results show that the proposed trajectory tracking control method can perform the lane-changing behavior well under different road curvatures and vehicle speeds while maintaining high trajectory tracking control accuracy.