Optimal Lane Changing Problem of Vehicle Handling Inverse Dynamics Based on Mesh Refinement Method

Abstract

This paper proposes a new optimal control method to solve traffic accidents such as vehicle collisions during driver's conscious lane changing under the dangerous state of highway driving and meet the requirements of safety and comfort during vehicle lane changes. First, by directly analyzing the interpolation error and slope of discrete nodes, a new mesh refinement method was used to solve the vehicle optimal lane-changing problem. Then, a simulation of vehicle emergency left and right lane changes was established to verify the proposed method based on a nonlinear 7-DOF vehicle model. Finally, a virtual test using the CarSim software was conducted to verify the feasibility of the simulated results. The simulation results show that the mesh generated by the method in this study is smaller and requires fewer grid iterations, which can quickly and accurately solve the vehicle optimal lane-changing problem with constant components of the optimal control variables and fewer mesh iteration times and node numbers with high accuracy. And also, compared with the traditional Gaussian pseudospectral method(GPM), the solution accuracy of the mesh refinement method is higher than that of the traditional Gaussian pseudospectral method, indicating the superiority of the proposed method.INDEX TERMS Optimal control, vehicle lane changing, minimum time, mesh refinement.