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Aiming at the trajectory planning of autonomous vehicles in lane changing under muti-lane traffic scenarios, a multi-lane lane change decision and trajectory planning algorithm based on Logic Regression Algorithm and Gaussian Probability Model is proposed. Firstly, the target state (time and velocity) of vehicle during lane change is sampled and lateral trajectory (5th polynomial) and longitudinal trajectory (4th polynomial) are planned based on the target state; Secondly, cost evaluation function of trajectory is established and optimal trajectory is selected based on three aspects of safety, comfort and lane changing time.

A vehicle-mounted anti-vibration system is designed to semi-actively reduce accelerations acting on vibration isolation platform under different road conditions. To provide the basis for optimal anti-vibration design, the kinematics and dynamics of the platform are analyzed to investigate the relationship between leg length, strength, the platform position and vibration properties. As the platform is fixed on vehicle, a combined vehicle-platform model is necessary for verifying the performance and applying some suitable control algorithms. Also, typical digital testing roads will be built using road load spectrum. To optimize the platform parameters, especially stiffness and damping, an active control system is designed at first. An anti-vibration system including a semi-active inerter is designed to match the control forces which are calculated from the above active system.

With the continuous improvement of positioning technology and industry demand, the shortcomings of each sensor are constantly amplified. Only relying on a single sensor, the demand of high-precision positioning and mapping for intelligent vehicles is difficult to be satisfied. The accuracy of system positioning and mapping is reduced due to the loss of feature points in pure visual SLAM as the environmental characteristics are not obvious or the texture is not abundant. IMU is a sensor with low cost and high update frequency, which can correct the running trajectory in real time and reduce the error of environmental factors on visual sensor data. Therefore, a method based on ORB_SLAM2 algorithm and VINS-Fusion algorithm, the stereo camera information and inertial measurement unit information are extracted and fused in robot operating system is proposed.