Research on Human-imitative Autonomous Lane-Changing Method on Highways

Zhao Weiguang ¹ , Gao Zhenhai ¹ , Zhang Zhu ² , Zhu Naixuan ¹

1. State Key Laboratory of Automobile Simulation and Control , Jilin University

2. Changhe Automobile Co ., Ltd.

Abstract: As a common driving behavior on highways, lane changing has many effects on traffic flow.How to achieve safe, reasonable, and human-imitative autonomous lane-changing is a current research hotspot in the field of autonomous driving.Based on the driver's lane-changing behavior data, this paper extracts lane-changing characteristic parameters reflecting the driver's behavior, studies the human-imitative lane-changing trigger mechanism, uses polynomial curves to achieve lane-changing trajectory planning, and designs feedforward-feedback tracking controller based on preview theory.The simulation results show that this method can realize human-imitative lane change triggering, trajectory planning and good tracking control.

Key words: lane change, human-imitative trigger mechanism of lane change, trajectory planning, tracking control yxZMc2SZ7b8tgKLNIfx4C9zL4ejyW4mbiRuVU7MrYd1esy2mBhyFox8hCLvkJrGB