Title :
Study on Intelligent Vehicle Lane Change Path Planning and Control Simulation
Author :
Feng, Jinxiang ; Ruan, Jiuhong ; Li, Yibin
Author_Institution :
ShanDong JiaoTong Univ., Jinan
Abstract :
For autonomous intelligent vehicle (TV), lane change is an important lateral motion pattern which comprises path planning and path track control. Firstly, a kind of IV lane change Path planning algorithm, which satisfies jerk restraint (LCP2SJR), was developed. Then fuzzy-neural network (FNN) and genetic algorithm (GA) were used to design the IV Lane Change robust controller (LCRC). At last, simulations of the lane change track control were done. The results show that under the guidance of the path planed by LCP2SJR and the control of LCRC, IV can implements high precise, smooth and strong robust lane change motion.
Keywords :
automated highways; fuzzy neural nets; genetic algorithms; neurocontrollers; path planning; road vehicles; robust control; autonomous intelligent vehicle; fuzzy-neural network; genetic algorithm; intelligent vehicle lane change control; intelligent vehicle lane change path planning; jerk restraint; lane change robust controller; lateral motion pattern; path track control; robust lane change motion; Acceleration; Algorithm design and analysis; Fuzzy control; Genetic algorithms; Intelligent vehicles; Motion control; Optimal control; Path planning; Robust control; Sliding mode control; fuzzy-neural network; genetic algorithm; intelligent vehicle; lane change; path planning; robust control;
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Shandong
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
DOI :
10.1109/ICIA.2006.305809
