Efficient motion planning and control for automated lane change considering road adhesion coefficient
by Haitao Ding; Ziyu Song; Jianwei Zhang; Nan Xu; Shaoshuai Gao; Chunlai Zhao
International Journal of Vehicle Design (IJVD), Vol. 95, No. 3/4, 2024

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.

Online publication date: Mon, 24-Jun-2024

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