A lane changing time point and path tracking framework for autonomous ground vehicle

Performing stable and safe lane changes can avoid collisions improve traffic safety. In recent years, most of the research in automated ground transportation was focused on path planning tracking. However, this work emphasizes importance changing time point. Based traditional safety distance, a novel concept, that is synthesized distance for (SSDLC), proposed to study It consists reference weight coefficient between them obtained by fuzzy logic control algorithm. Additionally, joint model predictive (JMPC) follow trajectory. This newly established algorithm not only considers physical saturation actuators but yaw stability characteristics. To overcome calculation difficulty obtain optimal results prescribed time, adds relaxation factor objective function. Finally, point tracking framework modeled simulated CarSim-Simulink platform. Four scenarios are carried out illustrate feasibility framework.