Seventh-Degree Polynomial-Based Single Lane Change Trajectory Planning and Four-Wheel Steering Model Predictive Tracking Control for Intelligent Vehicles

Seventh-Degree Polynomial-Based Single Lane Change Trajectory Planning and Four-Wheel Steering Model Predictive Tracking Control for Intelligent Vehicles

Blog Article

Single lane changing is one of the typical scenarios in vehicle driving.Planning a suitable single lane changing trajectory and tracking that trajectory accurately is very important for intelligent vehicles.The contribution of this study is twofold: (i) to plan lane change trajectories that cater to different driving styles (including aspects such as safety, efficiency, comfort, and balanced performance) by a 7th-degree polynomial; and (ii) to track the predefined trajectory by model predictive control (MPC) through four-wheel steering.The growing complexity of autonomous driving systems requires precise and comfortable trajectory planning and tracking.

While 5th-degree polynomials are commonly used for single-lane change maneuvers, they may fail to adequately address lateral jerk, resulting in less comfortable trajectories.The Power Wire Receptacle main challenges are: (i) trajectory planning and (ii) trajectory tracking.Front-wheel steering MPC, although widely used, struggles to accurately track trajectories from point mass models, especially when considering vehicle dynamics, leading to excessive lateral jerk.To address these issues, we propose a novel approach combining: (i) 7th-degree polynomial trajectory planning, which provides better control over lateral jerk for smoother and more comfortable maneuvers, and (ii) four-wheel steering MPC, which offers superior maneuverability and control compared to front-wheel steering, allowing for more precise trajectory tracking.

Extensive MATLAB/Simulink simulations demonstrate the effectiveness of our approach, showing improved comfort and tracking performance.Key findings include: (i) improved trajectory tracking: Four-wheel steering MPC outperforms front-wheel Trousers steering in accurately following desired trajectories, especially when considering vehicle dynamics.(ii) better ride comfort: 7th-degree polynomial trajectories, with improved control over lateral jerk, result in a smoother driving experience.Combining these two techniques enables safer, more efficient, and more comfortable autonomous driving.