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

摘要： 在车辆处于紧急情况无法主动变道或驾驶员无法自主完成变道的情况下，往往会发生 追尾事故，为降低车辆对驾驶员依赖，提高车辆自主判断路况环境的能力，文章提出了一种 利用叠加函数来设计上层控制器的设计方法。据实际的换道控制逻辑建立换道逻辑模型，通 过引入的叠加函数建立变道轨迹规划算法，采用预瞄比例-积分-微分（PID）建立轨迹追踪模 型，最后构建了 CarSim 动力学模型，并设置相应的性能参数，通过联合仿真结果表明，车辆 能够较好的追踪上层控制器所规划的路径，车辆横向加速度维持±0.15 m/s2 的范围之内，通过 该方法建立的主动换道控制逻辑能使车辆保持良好的横纵向控制动力学稳定性。

关键词: 主动换道；叠加函数；规划算法；轨迹跟踪