Study on Lane-Change Replanning for Intelligent Vehicle Based on Model Predictive Control
To address the issue of collision risk during lane changing of intelligent vehicles caused by changes in the driving status of other vehicles,real-time local path planning is required for the host vehicle.Based on Model Predictive Control(MPC),a lane change trajectory replanning strategy is proposed,which is divided into lane change trajectory correction strategy,lane change reentry strategy,and forward active collision avoidance strategy according to the collision risk.A lateral control based on MPC and a longitudinal control based on dual PID are established,and a comprehensive lateral-longitudinal trajectory tracking controller is designed with the longitudinal speed as the joint point.The trajectory planning module,trajectory replanning module,and trajectory tracking module are integrated in layers,and simulations are conducted to verify the lane change trajectory replanning strategies.The simulation results show that the lane change trajectory replanning and trajectory tracking control based on MPC can achieve safe collision avoidance for vehicles in different scenarios.
万方数据
维普
