关键词: 主动换道；叠加函数；规划算法；轨迹跟踪

Abstract: Rear-end collision accidents often occur when the vehicle is unable to change lane actively in an emergency or the driver is unable to complete the lane change autonomously. In order to reduce the dependence of the vehicle on the driver and improve the ability of the vehicle to judge the road environment autonomously, this paper proposes a design method of using the superposition function to design the upper controller. According to the actual lane change control logic, the lane change logic model is established. The lane change trajectory planning algorithm is established by the introduced superposition function. The trajectory tracking model is established by preview proportional-integral-derivative (PID). Finally, the CarSim dynamic model is constructed and the corresponding performance parameters are set. The joint simulation results show that the vehicle can better track the path planned by the upper controller, and the lateral acceleration of the vehicle is maintained within the range of ±0.15 m/s2. The active lane change control logic established by this method can make the vehicle maintain good lateral and longitudinal control dynamic stability.

Key words: Active lane change; Superposition function; Planning algorithm; Trajectory tracking