Minimum Time Lane Changing Problem of Vehicle Handling Inverse Dynamics Considering the Driver’s Intention

Abstract

By solving driver’s optimal handling input, this paper presents a novel Lane Changing Assistance System (LCAS) which can provide guidance for driver’s lane changing behavior. In addition, vehicle handling inverse dynamics method is proposed to solve driver’s optimal handling input. Firstly, to recognize driver’s lane changing intention and decrease the false alarm rate of LCAS, a lane changing intention recognition model is established. Secondly, the handling inverse dynamics model is established; and then the inverse dynamics problem is converted into the optimal control problem. Finally, the optimal control problem is converted into a nonlinear programming problem based on GPM; then sequential quadratic programming (SQP) is applied to get the solution. The direct collocation method (DCM) is used as the contrast verification of GPM. The simulation results show that the driver’s optimal handling input can be obtained according to driver’s lane changing intention in the proposed LCAS; and GPM has higher computational accuracy compared with DCM. This method may provide a reference for the research of LCAS and unmanned vehicles.