现代电子技术2026，Vol.49Issue(18)：190-198,9.DOI:10.16652/j.issn.1004-373X.2026.18.030
智能汽车换道轨迹跟踪横纵向控制方法研究
Method of horizontal and longitudinal control of lane change trajectory tracking of intelligent vehicle
摘要
Abstract
In allusion to the problems of insufficient trajectory tracking accuracy or reduced vehicle stability caused by a single control algorithm when intelligent vehicles actively change lanes in urban multi-lane environments,a horizontal and longitudinal decoupled trajectory tracking control strategy is proposed.In this strategy,the trajectory tracking is divided into horizontal path tracking and longitudinal path control.In the horizontal control,the feedforward predictor and linear quadratic regulator(LQR)feedback controller are combined,and the path curvature feedforward compensation is introduced to improve response speed and reduce steady-state errors.In the longitudinal control,the position-speed dual-layer PID architecture is adopted,the upper layer can calculate the target acceleration according to the trajectory error,and the lower layer can generate execution instructions by means of the throttle and brake calibration table,so as to achieve accurate speed adjustment.Based on the joint simulation platform of Matlab/Simulink,PreScan and CarSim,the results show that the proposed horizontal and longitudinal decoupling control strategy can maintain high trajectory tracking accuracy under different lane changing conditions,and the control error can meet the constraint requirements.In comparison with model predictive control(MPC),this strategy can effectively reduce the vehicle's centroid lateral deflection angle and yaw angular velocity,significantly improving the stability and comfort of the lane change process.关键词
智能车辆/主动换道/轨迹规划/轨迹跟踪/横纵向控制/换道稳定性Key words
intelligent vehicle/active lane change/trajectory planning/trajectory tracking/horizontal and longitudinal control/lane change stability分类
信息技术与安全科学引用本文复制引用
刘长迪,陈学文,窦馨瑜..智能汽车换道轨迹跟踪横纵向控制方法研究[J].现代电子技术,2026,49(18):190-198,9.基金项目
国家自然科学基金面上项目(62373175) （62373175）
辽宁省属本科高校基本科研业务费专项资金资助项目(LJZZ232410154016) （LJZZ232410154016）
