关键词: 双向两车道公路, 超车轨迹规划及跟踪, 模糊控制, 模型预测控制, 离散滑模控制

Abstract: This paper studies overtaking trajectory planning and tracking control of autonomous ground vehicles on a scene of two-way two-lane roads. Firstly, an objective function is established to balance the stability and efficiency of lane changing, and the optimal quintic polynomial lane changing trajectory is obtained. Then, the overtaking process is divided into three stages: lane changing, overtaking and lane merging. A safety distance model is established based on the critical collision conditions of the overtaking vehicle and other vehicles so as to judge the feasibility of the overtaking, obtain the duration of the overtaking, and plan the complete overtaking trajectory. After that, a model predictive controller and a discrete sliding mode controller are designed to track the lateral path and longitudinal speed respectively, and fuzzy control is used to compensate for the front steering angle output by the model predictive controller. Finally, overtaking verification is carried out under the joint simulation environment of Matlab and CarSim. The results show that the proposed overtaking trajectory planning and tracking method enable the vehicle to achieve autonomous overtaking maneuvers and maintain good tracking accuracy and stability.