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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...

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Autores principales: Zhang, Senlin, Liu, Xinyong, Deng, Guohong, Ou, Jian, Yang, Echuan, Yang, Shusong, Li, Tao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
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.
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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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