Abstract: In this paper, the method of autonomous lane changing for high-speed vehicles is studied. Considering the dynamic characteristics of vehicles, a simplified two degree of freedom vehicle model is established. In order to better simulate the actual curve, the lane changing trajectory planning model adopts quintic polynomial curve. Based on the preview point search model and dynamic model, the transfer function between the front wheel angle and preview error is calculated, and the trajectory tracking controller is designed by feedforward and feedback. The simulation results show that the control effect of the autonomous lane change control strategy is better.

Key words: Autonomous lane changing; Polynomial curve; Trajectory tracking

摘要： 文章对高速运动状态下的车辆进行自主换道方法研究，考虑到车辆的动力学特性，建立简化后的二自由度车辆模型。为更好地模拟实际曲线，换道轨迹规划模型采用五次多项式曲线。结合预瞄点搜索模型和动力学模型，计算前轮转角与预瞄误差间的传递函数，采取前馈加反馈的方式设计轨迹跟踪控制器，并通过仿真验证了自主换道控制策略控制效果较好。

关键词: 自主换道；多项式曲线；轨迹跟踪