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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