Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road
Joint Authors
Yue, Ming
Guo, Lie
Yi-bing, Zhao
Ge, Ping-Shu
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-01-09
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road.
The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly.
The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road.
Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable.
The Lyapunov theory is applied to analyze the stability of the proposed tracking controller.
Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.
American Psychological Association (APA)
Guo, Lie& Ge, Ping-Shu& Yue, Ming& Yi-bing, Zhao. 2014. Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-474737
Modern Language Association (MLA)
Guo, Lie…[et al.]. Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-474737
American Medical Association (AMA)
Guo, Lie& Ge, Ping-Shu& Yue, Ming& Yi-bing, Zhao. Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-474737
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-474737