吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (02): 323-328.

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Lane changing trajectory tracking control for intelligent vehicle on curved road based on backstepping

GUO Lie1, HUANG Xiao-hui1, GE Ping-shu2, ZHANG Guang-xi1, YUE Ming1   

  1. 1. State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China;
    2. College of Electromechanical & Information Engineering, Dalian Nationalities University, Dalian 116605, China
  • Received:2012-02-16 Online:2013-03-01 Published:2013-03-01

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Abstract: The trajectory tracking control was studied for the lane changing of the intelligent vehicle with non-holonomic constraint feature on curved road based on the kinematics model of the vehicle. Considering the cuvacture radius of the lane and the coupling of the longitudinal and lateral movements with the lane changing trajectory in the lane changing process, a lane changing trajectory planning method suitable for the curved road was proposed. According to the lane changing trajectory, a tracking control algorithm was proposed using the integral backstepping with intermediate virtual controllers. The stability of the control system was proved by Lyapunov stability theory. The simulations were performed and the results demonstrated that the control system guaranteed the trajectory tracking errors of the vehicle lane changing on curved road were uniformly and above boundedly convergent. The control system is characterized by quick work precise tracking and robust global stability.

Key words: engineering of communications and transportation safety, intelligent vehicle, lane changing, trajectory tracking, integral backstepping

CLC Number: 

  • U461
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