Research on Lane Change Model for Intelligent Vehicles

Abstract

Traditional lane change models in the process of lane changing have defects such as the lateral acceleration is too high or have jumps,the path has a noncontinuous curvature profile,and the lateral acceleration at initial moment in the process of lane changing is not zero.A new lane change function based on principle of four-phase lane changing model was put forward and the lane change path was rebuilt by adopting B-spline theory,at last a new lane change model for vehicles on highway was built.The new model could resolve the abovementioned existent defects in traditional models.With the given evaluation parameters of the lane changing path,the lane change path from this new model was calculated by Matlab software,and compared with the lane changing paths from two traditional models.The analysis result proved the correctness and feasibility of this new lane change model.