Title: Efficient motion planning and control for automated lane change considering road adhesion coefficient

Authors: Haitao Ding; Ziyu Song; Jianwei Zhang; Nan Xu; Shaoshuai Gao; Chunlai Zhao

Addresses: State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130000, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130000, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130000, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130000, China ' China Aerosp Times Feihong Technol Co., Ltd., 100854, Beijing, China ' Technology Center of Dongfeng Motor Group Co., Ltd., 430058, Wuhan, China

Abstract: An efficient motion planning and control model for dynamic traffic environments is proposed to realise automated lane change of autonomous vehicles and meet the safety, comfort and real-time constraints. The nonlinear dynamics related to the road adhesion coefficient are considered in the constraints, and sequential quadratic programming (SQP) is used to solve the constrained optimisation problem. Central to the robustness of the SQP algorithm is the use of a non-monotone line search method and a merit function. Considering the nonlinear lateral and longitudinal dynamic coupling of the vehicle and the adhesion uncertainty, a trajectory tracking control based on model predictive control (MPC) is proposed to improve the accuracy and dynamic stability. The simulation results reveal that the lane change model can effectively prevent collisions with surrounding dynamic vehicles and complete lane change. Based on the SQP and MPC methods, the solution time is significantly shortened, which meets real-time and effective requirements.

Keywords: motion planning; trajectory tracking; lane change; road adhesion coefficient; MPC; model predictive control; SQP; sequential quadratic programming; non-monotone line search.

DOI: 10.1504/IJVD.2024.139179

International Journal of Vehicle Design, 2024 Vol.95 No.3/4, pp.320 - 347

Received: 12 Jul 2023
Accepted: 02 Apr 2024
Published online: 24 Jun 2024 *

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