Abstract
This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.
Highlights
Intelligent vehicle which can obtain environment information and running state by vehicle sensor is a hot topic of automatic traffic
There are many kinds of trajectory planning methods, such as trajectory planning based on arcs trajectory which uses the B-spline to optimize running state curve (Elbanhawi et al 2015)
This paper aims to study the problem of trajectory planning and tracking control about lane changing on curved road
Summary
Intelligent vehicle which can obtain environment information and running state by vehicle sensor is a hot topic of automatic traffic. There are many kinds of trajectory planning methods, such as trajectory planning based on arcs trajectory which uses the B-spline to optimize running state curve (Elbanhawi et al 2015). It could overcome the problem of abrupt trajectory curvature change. The trapezoidal acceleration profile resultant trajectory has been known as generating the least possible lateral acceleration on the vehicle (Ren et al 2011). It adapted to the path planning of straight road. It adapted to the path planning of straight road. Yang et al (2012) proposed a
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