|Model predictive control for intelligent vehicle lane change
|H. Zheng, Z. Huang, C. Wu, R.R. Negenborn
|2nd International Conference on Transportation Information and Safety (ICTIS 2013)
|Lane change on highways is a demanding and critical maneuver, for it involves the surveillance of vehicles both in the original and targeted lane and the control of both longitudinal and lateral movement. However, intelligent vehicles make it possible to develop precise control approaches to realize safe lane change. A Model Predictive Control (MPC) system for safe lane change with a path-tracking capability is proposed in this paper. First, a safe lane change trajectory is planned with consideration of collision avoidance and comfort using a polynomial path planning method. Then, a nonlinear vehicle lateral movement model is constructed and validated using the fully nonlinear vehicle dynamics simulation software CarSim. Then the established vehicle model is successively linearized, after which the linearization result is employed as the prediction model of the MPC controller and based on this, the safe lane change MPC controller is designed. Simulation results illustrate the potential of the controller when following the safe lane change trajectory.
|Model predictive control for intelligent vehicle lane change. H. Zheng, Z. Huang, C. Wu, R.R. Negenborn. In Proceedings of the 2nd International Conference on Transportation Information and Safety (ICTIS 2013), Wuhan, China, pp. 265-276, June-July 2013.
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