Lane Change Control Based on Vehicle Driving Safe Boundary

doi:10.3901/JME.2020.18.143

Abstract

Abstract: According to the shortcoming that safety of lane change is difficult to ensure for different lane changing environments in most lane change studies, a lane change control method based on vehicle driving safe boundary is proposed to solve this problem. Firstly, accounting for the lane change space and the collision time interval between the self-vehicle and the surrounding associated vehicles, the lane change state decision is designed. Secondly, the vehicle position safe boundary considering the vehicle-road position relationship and the vehicle safe rectangular area is established. Based on the driving stability limit and the requirements of yaw rate in different lane changing states, a safe boundary of the vehicle motion state corresponding to the lane changing states is established. Then, the vehicle position safe boundary and the safe boundary of the vehicle motion state are used as constraints of the vehicle lane changing state parameters, and the centerline of target lane is used as reference trajectory. A model predictive controller that determines the desired front wheel steering angle of lane change is designed. Finally, lane change simulation is carried out, and the HIL test is implemented on the HIL test bench based on CarSim/LabVIEW. The simulation and test results show that the proposed method can control the vehicle better cope with different lane changing environments by making full use of the lane change space, and can improve the safety and comfort of lane changing.

Key words: lane change control, safe boundary, model prediction, hardware in the loop

CLC Number:

U461

WANG Huiran, WANG Qidong, CHEN Wuwei, ZHAO Linfeng, WEI Zhenya, CAI Bixin. Lane Change Control Based on Vehicle Driving Safe Boundary[J]. Journal of Mechanical Engineering, 2020, 56(18): 143-153.

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