Integrated motion control of intelligent vehicle for emergency obstacle avoidance on confluence area
LIAO Dao-zheng
LIU Xiao-nan
CHENG Jun
XI Lei
Abstract：Aiming at the problem of path planning and tracking control for emergency lane change obstacle avoidance in ramp confluence area of intelligent vehicle,an adaptive tracking control method is proposed,which can avoid obstacles use lane change.First of all,according to the vehicle running state at current lane and target lane,the safety constraint conditions of emergency lane change obstacle avoidance are proposed,and path planning and speed planning are carried out for lane change obstacle avoidance.Then,based on the model predictive control(MPC),the longitudinal motion controller is designed to track the vehicle's speed accurately.Finally,according to the real-time speed,the optimal prediction time domain parameter selection method is proposed,and the adaptive prediction time domain MPC lateral tracking controller is designed.Simulation results show that the proposed control method has higher tracking accuracy and driving stability than the fixed time domain parameter method.
Keywords：obstacle avoidancetrajectory planningspeed trackingadaptive model predictive control
Publication Date：2025-07-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1426-1434 )