To improve the operation efficiency of the superhighway and to ensure its driving safety, this paper comprehensively uses the methods of theoretical modeling and simulation analysis to explore the trajectory planning and collision avoidance control model of the superhighway. Considering vehicle dynamics constraints and surrounding vehicle constraints, a yaw rate model and a lane change duration boundary model are established to generate a safe and feasible lane change trajectory. The collision avoidance conditions of static obstacles and dynamic obstacles are divided, and the triggering conditions of braking priority and lane change priority are determined based on the braking collision avoidance distance, so as to improve the collision avoidance ability of the vehicle under different driving conditions. An adaptive model predictive control algorithm is designed to realize the tracking control of the vehicle lane-changing trajectory. The CarSim/Simulink cosimulation model was built, and three sets of simulation scenarios were designed based on the superhighway static and dynamic obstacle lane-changing collision avoidance. The effectiveness of the trajectory-tracking control model is verified by the vehicle dynamic parameters and trajectory-tracking accuracy.
He et al. (Tue,) studied this question.