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Study on Lane-Change Replanning for Intelligent Vehicle Based on Model Predictive Control
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Yaohua Li1, Guochen Chong1, Jikang Fan1, Dengwang Zhai1, Fenlong Lan2
Automobile Technology | 2024, (10) : 20 - 27
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Automobile Technology | 2024, (10): 20-27
• Selected Papers of SAECCE 2024 •
Study on Lane-Change Replanning for Intelligent Vehicle Based on Model Predictive Control
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Yaohua Li1, Guochen Chong1, Jikang Fan1, Dengwang Zhai1, Fenlong Lan2
Affiliations
  • 1 School of Automotive, Chang’an University, Xi’an 710064
  • 2 College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044
Published: 2024-10-24 doi: 10.19620/j.cnki.1000-3703.20240704
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To address the issue of collision risk during lane changing of intelligent vehicles caused by changes in the driving status of other vehicles, real-time local path planning is required for the host vehicle. Based on Model Predictive Control (MPC), a lane change trajectory replanning strategy is proposed, which is divided into lane change trajectory correction strategy, lane change reentry strategy, and forward active collision avoidance strategy according to the collision risk. A lateral control based on MPC and a longitudinal control based on dual PID are established, and a comprehensive lateral-longitudinal trajectory tracking controller is designed with the longitudinal speed as the joint point. The trajectory planning module, trajectory replanning module, and trajectory tracking module are integrated in layers, and simulations are conducted to verify the lane change trajectory replanning strategies. The simulation results show that the lane change trajectory replanning and trajectory tracking control based on MPC can achieve safe collision avoidance for vehicles in different scenarios.

Intelligent vehicle  /  Lane-change replanning  /  Model predictive control  /  Trajectory tracking
Yaohua Li, Guochen Chong, Jikang Fan, Dengwang Zhai, Fenlong Lan. Study on Lane-Change Replanning for Intelligent Vehicle Based on Model Predictive Control[J]. Automobile Technology, 2024 , (10) : 20 -27 . DOI: 10.19620/j.cnki.1000-3703.20240704
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Year 2024 volume Issue 10
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doi: 10.19620/j.cnki.1000-3703.20240704
  • Online Date：2025-12-22
  • Published：2024-10-24
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  • Revised：2024-08-12
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    1 School of Automotive, Chang’an University, Xi’an 710064
    2 College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044
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光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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