Research on Real-time Obstacle Avoidance by Deceleration and Lane-changing Trajectory Planning and Tracking Strategy Based on Dual Algorithm Control
Aiming at the problem of poor robustness after the combination of lateral kinematics control and lateral dynamics control when an autonomous vehicle decelerates and changes lanes at a certain distance. This paper proposes a trajectory determination and tracking control method based on a PI-MPC dual algorithm controller. In order to describe the longitudinal deceleration that satisfies the lateral acceleration limit during a certain distance of lane change, firstly, a fifth-order polynomial and a uniform deceleration motion formula are established to express the lateral and longitudinal displacements, and a model prediction (MPC) controller is used to output the front wheel rotation angle. Through the dynamic formula and the speed proportional integral (PI) controller to control and adjust the brake pressure.