Trajectory planning and yaw rate tracking control for lane changing of intelligent vehicle on curved road

Abstract

The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation. intelligent vehicle, lane changing, trajectory planning, yaw rate-tracking Citation: Ren D B, Zhang J Y, Zhang J M, et al. Trajectory planning and yaw rate tracking control for lane changing of intelligent vehicle on curved road. Sci

A terminal sliding mode based torque distribution control for an individual-wheel-drive vehicle

“…Here, the nonlinear reaching law u 3n proposed by Ren et al (2011) rather than a linear one is adopted to achieve the finite-time convergence of r  and r  when 3 0, s   and thus allows us to have a better control performance. …”

“…A terminal sliding mode control (TSMC) is a type of sliding control, in which the finite-time convergence and quick responsiveness can be achieved on the terminal sliding manifold (Liu and Wang, 2012). It has been successfully applied to applications of vehicle longitudinal (Kim et al, 2007) and lateral (Ren et al, 2011) control, but no study has been previously made regarding its effects on the combined motion control. In the matter of control allocation, different optimization methods have been proposed (Mokhiamar and Abe, 2004;Ono et al, 2006;Li et al, 2008;Wang and Longoria, 2009;Chen and Wang, 2011), although none of them are computationally efficient.…”

Modeling for Lane Changing Trajectory with Odd Order Polynomial

“…In reference [2], Hatipoglu et al researched the control method for lane changing based on the yaw rate tracking, by using the curvature of the circular road, designed the mathematical model of desired yaw angle and yaw rate for lane changing, but it ignored the curvature difference between the inside lane and the outside lane of the road, so the vehicle position can't be guaranteed at the centerline of the target lane at the end of the lane changing process, namely lane changing trajectory exists a deviation. In reference [3], authors considered the impact of lateral movement of vehicle on curvature of lane changing trajectory, without assuming that the starting lane and the target lane have the same curvature, the trajectory model planed for lane changing did not exist deviation. In above references [2] and [3], the length constraint of the road section corresponds to the lane changing process had not been considered, but in fact lane changing behavior usually occurs in the case when there is an obstacle in front of the current vehicle position or the spacing between vehicles is limited, it is needed to consider the driving distance during the process of lane changing, therefore, the road section length constraints for lane changing behavior should be considered when planning the lane changing trajectory, such as in reference [4], authors established a minimum safety distance model for lane changing by applying elliptic model, on which the changing lane model considering spatial constraints was designed based, but it did not consider the curvature of road.…”

“…Based on references [2] and [3], using odd-order polynomial constraints as reference [5], this paper continues to research trajectory planning method for lane changing on circular road, not only consider the lateral distance between lanes of circular road, but the longitudinal length constraints for road section is also included, make a further promotion for existing research results.…”

Design of intelligent vehicle control system based on machine visual

“…In recent years, the intelligent vehicle technology becomes improve and perfect constantly, intelligent vehicle plays a more and more important role in industrial production and daily life [1,2]. Control system is one of the key technologies of intelligent vehicle, it mainly to control the vehicle to track the reference trajectory [3,4].…”