Lane changing trajectory planning and tracking controller design for intelligent vehicle running on curved road
type: Item
instance of: scholarly article
title: Lane changing trajectory planning and tracking controller design for intelligent vehicle running on curved road
zbMATH Open document ID: 1407.93253
DOI: 10.1155/2014/478573
author: Lie Guo
author: Ping-shu Ge
author: Ming Yue
author: Yi-bing Zhao
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road. The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly. The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road. Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable. The Lyapunov theory is applied to analyze the stability of the proposed tracking controller. Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 7016526
Wikidata QID: Q59067705
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/478573
OpenAlex ID: W2035913017
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description: scientific article; zbMATH DE number 7016526