Trajectory Planning and Optimal Lateral Stability Control under Multiple Barriers for Intelligent Vehicle

Abstract

Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and lad-der type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular auto-mata theory, obtains the desired lane change trajectory using this method, and finally changes into a simple coefficient selection problem. Secondly, based on the quadratic optimal control theory, this paper proposes a state space analysis method of intelligent vehicle lateral control, and de-signs an optimal controller for lateral stability of H2 vehicles. The computer simulation results show that compared with other vehicle trajectory methods, the method in this paper is able to simply and rapidly describe the trajectory, and can describe the intelligent vehicle lane change trajectory under a variety of situations, wherein the controller is reliable and capable of fast con-vergence.