Intelligent vehicle lane change trajectory control algorithm based on weight coefficient adaptive adjustment

In order to improve the trajectory smoothness and the accuracy of lane change control, an adaptive control algorithm based on weight coefficient was proposed. According to lane change trajectory constraint conditions, the sixth-order polynomial lane change trajectory applied to intelligent vehicles...

Full description

Saved in:
Bibliographic Details
Published in:Advances in mechanical engineering 2021-03, Vol.13 (3)
Main Authors: Wang, Junnian, Teng, Fei, Li, Jing, Zang, Liguo, Fan, Tianxin, Zhang, Jiaxu, Wang, Xingyu
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control
Coefficients
Constraint modelling
Control algorithms
Control systems design
Control theory
Controllers
Fuzzy control
Intelligent vehicles
Lane changing
Lateral displacement
Polynomials
Prediction models
Predictive control
Robust control
Sideslip
Smoothness
Trajectory control
Weight
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In order to improve the trajectory smoothness and the accuracy of lane change control, an adaptive control algorithm based on weight coefficient was proposed. According to lane change trajectory constraint conditions, the sixth-order polynomial lane change trajectory applied to intelligent vehicles was constructed. Based on the vehicle model and the model predictive control theory, the time-varying linear variable path vehicle predictive model was derived by combining soft constraint of the side slip angle. Combined with fuzzy control algorithm, the weight coefficient of the deviation of the lateral displacement was dynamically adjusted. Finally, the FMPC (model predictive controller based on fuzzy control) and MPC controller were compared and analyzed by co-simulation of CarSim and Simulink under different speeds. The simulation results show that the designed FMPC controller can track the lane change trajectory better, and the controller has better robustness when the vehicle changes lanes at different speeds.
ISSN:1687-8132
1687-8140
DOI:10.1177/16878140211003393