Search Results

The trajectory planning and the accurate path tracking are the two key technologies to realize the intelligent driving. The research of the steering wheel angle plays an important role in the path tracking. The purpose of this study is to optimize the steering wheel angle input during the automated lane changing. A dynamic programming approach to trajectory planning is proposed in this study, which is expected to not only achieve a quick reaction to the changing driving environment, but also optimize the balance between vehicle performance and driving efficiency. First of all, the lane changing trajectory is planned based on the positive and negative trapezoidal lateral acceleration method. In addition, the multi-objective optimization function is built which includes such indexes: lateral acceleration, lateral acceleration rate, yaw rate, lane changing time and lane changing distance.