A Tracking Control Method for Vehicle Lane Changing Based on Model Prediction
A technology of model prediction and trajectory tracking, which is applied to vehicle lane-changing trajectory tracking control, and the planning and control of lane-changing trajectories for intelligent vehicles during lane-changing driving. It can solve the problem of neglecting longitudinal speed control and insufficient consideration of ride comfort constraints and other problems, to achieve the effect of reducing lateral tracking error, high precision, and high control precision
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[0021] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be further described in detail and in-depth below in conjunction with the accompanying drawings.
[0022] The invention is applied to the advanced driving assistance system (ADAS) of the vehicle, and plans a vehicle lane-changing trajectory tracking control method based on model prediction that considers the driver's comfort. In the ADAS, after receiving the lane-changing instruction issued by the decision-making layer, the planning module plans the lane-changing trajectory according to the method of the present invention, and sends the calculated expected trajectory to the control module, and the control module controls the vehicle to change lanes according to the expected trajectory. The vehicle lane-changing trajectory tracking control method based on model prediction of the present invention mainly includes three steps: step 1, estab...
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