Study on Intelligent Vehicle Lane Change Path Planning and Control Simulation

For autonomous Intelligent Vehicle (IV), lane change is an important lateral motion pattern which comprises path planning and path track control. Firstly, a kind of IV Lane Change Path Planning algorithm, which Satisfies Jerk Restraint (LCP2SJR), was developed. Then fuzzy-neural network (FNN) and genetic algorithm (GA) were used to design the IV Lane Change Robust Controller (LCRC). At last, simulations of the lane change track control were done. The results show that under the guidance of the path planed by LCP2SJR and the control of LCRC, IV can implements high precise, smooth and strong robust lane change motion.