基于最优预瞄的智能车变道控制

针对智能车主动变道过程中的轨迹跟踪控制问题，基于“预瞄-跟随”控制理论及“车辆-道路”模型提出了最优预瞄轨迹跟踪控制模型,并依据线性二次型调节器(LQR)理论设计了轨迹跟踪控制器，获得了最优转向盘转角输入，以实现智能车变道轨迹跟踪。在MATLAB/Simulink和CarSim的联合仿真环境下构建了智能车的变道决策模块、变道参考轨迹模块和跟踪控制模块，实现了智能车在30 km/h、50 km/h和70 km/h速度下的仿真验证。结合实车测试结果验证了所设计控制器的精确度和稳定性。

Lane-change Control for Intelligent Vehicles Based on Optimal Preview

Considering the trajectory-tracking control problems during the processes of lane-change for intelligent vehicles, an optimal preview trajectory-tracking control model was proposed based on the “preview-tracking” control theory and the “vehicle-road” model. According to the linear quadratic regulator(LQR) theory, a trajectory-tracking controller was designed and the optimal steering angle inputs were obtained to realize the lane-change trajectory tracking of the intelligent vehicles. Under the co-simulation environment of MATLAB/Simulink and CarSim, the lane-change decision module, lane-change reference trajectory module and tracking control module for the intelligent vehicles were established, and the simulation analyses of the intelligent vehicles were carried out at the speeds of 30 km/h, 50 km/h and 70 km/h respectively. After the combination of vehicle test results, the accuracy and the stability of the proposed controller were verified.