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首页> 外文期刊>Quality Control, Transactions >Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings
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Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings

机译：基于纵向和横向车辆控制的自主车道改变系统适用于驱动周围环境

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摘要

The purpose of this study is to develop an autonomous lane change control system that adapts to variable surrounding conditions, to ensure vehicle safety and traffic flow stability. In this paper, we propose decision-making and control procedures for realizing autonomous lane changing; to this end, we consider not only behaviors for changing lanes but also those involved in approaching the lane changing state, with a focus on the controller design. A decoupled control structure and longitudinal trajectory-free control approach are suggested. We design a novel inter-vehicle spacing policy and a 3DOF lateral error vehicle dynamics model. To verify the effectiveness of our system, simulation experiments are performed for 12 scenarios, and system assessments are conducted based on four evaluation perspectives. The results confirm that our system can safely control the vehicle amidst various surrounding vehicle conditions and can also ensure vehicle motion stability. Furthermore, we solve the existing dynamic instability problem of lateral control, which arises through longitudinal acceleration variability. Another significant advantage of this model is that the controlled vehicle does not interfere with the target-lane traffic flow and smoothly synchronizes with the flow during lane changing.
机译：本研究的目的是开发一种自主巷改变控制系统，适应可变周围条件，以确保车辆安全性和交通流量稳定性。在本文中，我们提出了实现自主车道变化的决策和控制程序;为此，我们不仅考虑改变车道的行为，而且考虑参与接近车道变化状态的行为，重点是控制器设计。提出了解耦控制结构和纵向轨迹控制方法。我们设计一种新型车间间隔政策和3DOF横向误差车辆动力学模型。为了验证系统的有效性，仿真实验是针对12个方案进行的，并根据四个评估视角进行系统评估。结果证实，我们的系统可以在各种周边车辆条件下安全地控制车辆，并可以确保车辆运动稳定性。此外，我们解决了横向控制的现有动态不稳定问题，这是通过纵向加速度变异性而产生的。该模型的另一个显着优点是受控车辆不会干扰目标车道交通流量并在车道变化期间平滑地同步流动。

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