Navigating the intricate traffic environment, lane-changing has emerged as a frequent and essential driving maneu-ver for intelligent vehicles. However, it is challenging to guarantee the safety of the intelligent vehicle and the trajectory tracking accuracy against the external environment during lane-changing. Considering these challenges to overcome, the model predictive control (MPC)-based trajectory tracking strategy incorporating an autonomous lane-changing mechanism is proposed in this paper. The autonomous lane-changing mechanism considering lane-changing intention is proposed to ensure that the intelligent vehicle generates safe lane-changing decisions and trajectories. Subsequently, the MPC strategy that considers the physical char-acteristics of the intelligent vehicle is proposed to guarantee the accuracy and smoothness of trajectory tracking. The validation of its effectiveness and advantages is established on the PreScan and MATLAB/Simulink co-simulation platforms.


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    Title :

    MPC-Based Trajectory Tracking Control Strategy Incorporating Autonomous Lane-Changing Mechanism for Intelligent Vehicles


    Contributors:
    Zhang, Dongxue (author) / Liu, Huiwen (author) / Jiao, Xiaohong (author) / Zhang, Ting (author)


    Publication date :

    2024-10-25


    Size :

    2091875 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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