title: Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.
abstract: This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.
authors: Department of Information Engineering, Shandong University of Science and Technology, Taian, China ; College of Information Science and Engineering, Ocean University of China, Qingdao, China.
authors: Lukun
authors: L
authors: Wang
authors: College of Foreign Languages, Taishan Medical University, Taian, China.
authors: Xiaoying
authors: X
authors: Zhao
authors: College of Information Science and Engineering, Ocean University of China, Qingdao, China.
authors: Hao
authors: H
authors: Su
authors: College of Information Science and Engineering, Ocean University of China, Qingdao, China.
authors: Gongyou
authors: G
authors: Tang
keywords: B-spline; Backstepping; Lane changing on curved road; Sliding-mode control; Trajectory planning; Trajectory tracking control