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Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving
The vehicle particle model was built to compare and analyze the effectiveness of three different collision avoidance methods. The results show that during vehicle high-speed emergency collision avoidance, lane change collision avoidance requires a smaller longitudinal distance than braking collision...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10256023/ https://www.ncbi.nlm.nih.gov/pubmed/37300028 http://dx.doi.org/10.3390/s23115301 |
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author | Zhang, Senlin Liu, Xinyong Deng, Guohong Ou, Jian Yang, Echuan Yang, Shusong Li, Tao |
author_facet | Zhang, Senlin Liu, Xinyong Deng, Guohong Ou, Jian Yang, Echuan Yang, Shusong Li, Tao |
author_sort | Zhang, Senlin |
collection | PubMed |
description | The vehicle particle model was built to compare and analyze the effectiveness of three different collision avoidance methods. The results show that during vehicle high-speed emergency collision avoidance, lane change collision avoidance requires a smaller longitudinal distance than braking collision avoidance and is closer to that with a combination of lane change and braking collision avoidance. Based on the above, a double-layer control strategy is proposed to avoid collision when vehicles change lanes at high speed. The quintic polynomial is chosen as the reference path after comparing and analyzing three polynomial reference trajectories. The multiobjective optimized model predictive control is used to track the lateral displacement, and the optimization objective is to minimize the lateral position deviation, yaw rate tracking deviation, and control increment. The lower longitudinal speed tracking control strategy is to control the vehicle drive system and brake system to track the expected speed. Finally, the lane changing conditions and other speed conditions of the vehicle at 120 km/h are verified. The results show that the control strategy can track the longitudinal and lateral trajectories well and achieve effective lane change and collision avoidance. |
format | Online Article Text |
id | pubmed-10256023 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-102560232023-06-10 Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving Zhang, Senlin Liu, Xinyong Deng, Guohong Ou, Jian Yang, Echuan Yang, Shusong Li, Tao Sensors (Basel) Article The vehicle particle model was built to compare and analyze the effectiveness of three different collision avoidance methods. The results show that during vehicle high-speed emergency collision avoidance, lane change collision avoidance requires a smaller longitudinal distance than braking collision avoidance and is closer to that with a combination of lane change and braking collision avoidance. Based on the above, a double-layer control strategy is proposed to avoid collision when vehicles change lanes at high speed. The quintic polynomial is chosen as the reference path after comparing and analyzing three polynomial reference trajectories. The multiobjective optimized model predictive control is used to track the lateral displacement, and the optimization objective is to minimize the lateral position deviation, yaw rate tracking deviation, and control increment. The lower longitudinal speed tracking control strategy is to control the vehicle drive system and brake system to track the expected speed. Finally, the lane changing conditions and other speed conditions of the vehicle at 120 km/h are verified. The results show that the control strategy can track the longitudinal and lateral trajectories well and achieve effective lane change and collision avoidance. MDPI 2023-06-02 /pmc/articles/PMC10256023/ /pubmed/37300028 http://dx.doi.org/10.3390/s23115301 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zhang, Senlin Liu, Xinyong Deng, Guohong Ou, Jian Yang, Echuan Yang, Shusong Li, Tao Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving |
title | Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving |
title_full | Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving |
title_fullStr | Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving |
title_full_unstemmed | Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving |
title_short | Longitudinal and Lateral Control Strategies for Automatic Lane Change to Avoid Collision in Vehicle High-Speed Driving |
title_sort | longitudinal and lateral control strategies for automatic lane change to avoid collision in vehicle high-speed driving |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10256023/ https://www.ncbi.nlm.nih.gov/pubmed/37300028 http://dx.doi.org/10.3390/s23115301 |
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