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Minimum Time Lane Changing Problem of Vehicle Handling Inverse Dynamics Considering the Driver’s Intention

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Abstract

By solving driver’s optimal handling input, this paper presents a novel Lane Changing Assistance System (LCAS) which can provide guidance for driver’s lane changing behavior. In addition, vehicle handling inverse dynamics method is proposed to solve driver’s optimal handling input. Firstly, to recognize driver’s lane changing intention and decrease the false alarm rate of LCAS, a lane changing intention recognition model is established. Secondly, the handling inverse dynamics model is established; and then the inverse dynamics problem is converted into the optimal control problem. Finally, the optimal control problem is converted into a nonlinear programming problem based on GPM; then sequential quadratic programming (SQP) is applied to get the solution. The direct collocation method (DCM) is used as the contrast verification of GPM. The simulation results show that the driver’s optimal handling input can be obtained according to driver’s lane changing intention in the proposed LCAS; and GPM has higher computational accuracy compared with DCM. This method may provide a reference for the research of LCAS and unmanned vehicles.

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Abbreviations

c :

penalty coefficient

g :

kernel function parameter

ωr :

yaw rate, deg−1

v :

lateral velocity, m·s−1

u :

longitudinal velocity, m·s−1

m :

vehicle total mass, kg

F yf :

cornering force of the front wheel, N

δ:

steering angle of the front wheel, deg

δsw :

steering wheel angle, deg

δr :

steering wheel angle rate, deg−1

F yr :

cornering force of the rear wheel, N

I z :

rotational inertia around vertical axis, kg·m2

F xr :

braking force, N

F xf :

driving / braking force of the front wheel, N

θ:

course angle, deg

a :

distance from mass center to front axle, m

b :

distance from mass center to rear axle, m

F f :

rolling resistance, N

F w :

air resistance, N

C D :

air resistance coefficient

A:

frontal area, m2

φ:

road adhesion coefficient

F zf :

vertical force of the front wheel, N

F zr :

vertical force of the rear wheel, N

g 0 :

gravity acceleration, m·s−2

k 1 :

synthesized stiffness of front wheel, N·rad−1

k 2 :

synthesized stiffness of rear wheel, N·rad−1

h g :

centroid height, m

i :

steering gear ratio

t 0 :

initial time, s

t e :

terminal time, s

a y :

lateral acceleration, m·s−2

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Authors and Affiliations

  1. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Xinglong Zhang, Youqun Zhao, Wenxin Zhang, Fen Lin & Haiqing Li

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  1. Xinglong Zhang
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  2. Youqun Zhao
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  3. Wenxin Zhang
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  4. Fen Lin
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  5. Haiqing Li
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Correspondence to Youqun Zhao.

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Zhang, X., Zhao, Y., Zhang, W. et al. Minimum Time Lane Changing Problem of Vehicle Handling Inverse Dynamics Considering the Driver’s Intention. Int.J Automot. Technol. 20, 109–118 (2019). https://doi.org/10.1007/s12239-019-0010-2

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  • DOI: https://doi.org/10.1007/s12239-019-0010-2

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