In the real traffic environment, lane changing is a common behavior that causes accident frequently. In order to supplement the shortcomings of human behavior, make the vehicle achieve more reliable lane changing operation and improve the rationality and safety of vehicle lane changing, this paper presents a longitudinal and lateral feedback control method of automatic driving for lane changing scene. In this paper, the relationship model between time to collision and lane changing time is established, and the relationship between lane changing safety threshold is given, which improves the driving safety of lane changing scene. Then the trajectory planning model is established by polynomial curve method, and the vehicle control is achieved by linear quadratic regulator and proportional-integral-derivative control. Finally, simulation system is established based on Simulink and Prescan software. The experimental results verify the effectiveness of the control method.
Research on Longitudinal and Lateral Feedback Control on Autonomous Vehicle for Lane Changing Scene
2022-05-04
2151006 byte
Conference paper
Electronic Resource
English
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