Abstract
A dynamic control strategy for variable speed lane change trajectory tracking was proposed. It includes a double PID longitudinal speed controller and a lateral model predictive controller using comprehensive evaluation indexes：lateral error，yaw rate，and side-slip angle. coefficients of each evaluation index based on the estimated tire-road friction coefficient and predicted vehicle status information. This allows achieving dynamic control between tracking accuracy and lateral stability. To verify the effectiveness of the algorithm，variable speed lane changing scenarios with high and low tire-road friction coefficients were designed，and CarSim and Simulink simulations were conducted. The simulation results demonstrate that the proposed dynamic control strategy realizes the dynamic adjustment of weight factors under different tire-road friction coefficients. It ensures smooth control output during lane changes，improves trajectory tracking control accuracy and lateral stability of unmanned vehicles simultaneously，and exhibits good coordination control effect.
| Translated title of the contribution | Dynamic control for trajectory tracking of variable speed lane change in autonomous vehicles |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 3729-3739 |
| Number of pages | 11 |
| Journal | Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) |
| Volume | 54 |
| Issue number | 12 |
| DOIs | |
| Publication status | Published - Dec 2024 |