Abstract: Referenceline,trajectory planning and lateral control are important components in intelligent vehicle. Excellent referenceline is required as benchmark for intelligent vehicle and to meet smooth and compact. Trajectory planning and lateral control are required when vehicle lane change. Smooth and compact algorithm are proposed in this paper to optimize the referenceline. Quintic polynomial curve is used in this paper to plan trajectory, and linear quadratic regulator (LQR) is used to control lateral lane change. Finally, the effect of lane change is good. The feasibility and superiorty of the algorithm are verified by the simulation software CarSim and Simulink.

Key words: Reference line; Optimization algorithm; LQR; Linear two degrees of freedom

摘要： 参考线、轨迹规划与横向控制是智能车辆的重要组成部分。智能车辆的行驶需要优良 的参考线作为行驶基准，参考线需满足平滑性与紧凑性要求，车辆的变道需要轨迹规划与横 向控制。文章提出平滑算法与紧凑算法，对参考线的平滑性与紧凑性进行优化。在轨迹规划 与横向控制方面，文章采用五次多项式曲线进行轨迹规划，线性二次型调节器（LQR）进行 变道的横向控制；最终通过软件 CarSim 与 Simulink 的仿真验证。结果表明，车辆变道的跟 踪效果优良，验证算法的可行性与优越性。

关键词: 参考线；优化算法；LQR；线性二自由度