Lane changes in multi-vehicle driving environments are one of the most challenging manoeuvres for autonomous vehicles. The key innovation of this study is to develop an integrated longitudinal and lateral trajectory planning and tracking control algorithm under vehicle-to-vehicle communication. This algorithm includes two levels: trajectory planning and path-following control. In the upper level, considering riding comfort, a collision-free lane-changing trajectory cluster is generated under different lane change durations. Then, the most appropriate trajectory from this cluster is provided by selecting the optimal lane change duration considering vehicle dynamics safety, collision avoidance of surrounding vehicles and driver preference. At the bottom level, a multiple-input multiple-output triple-step non-linear approach is proposed in the longitudinal and lateral path-following controller design. The stability of the closed-loop system is rigorously proven based on the Lyapunov function. Finally, the effectiveness of the proposed algorithm is verified with a high-fidelity and full-car model on the veDYNA platform.

中文翻译：

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多车驾驶环境中自动驾驶车辆的纵向和横向控制

在多车辆驾驶环境中改变车道是自动驾驶汽车最具挑战性的操作之一。这项研究的关键创新是开发一种在车对车通信下集成的纵向和横向轨迹规划和跟踪控制算法。该算法包括两个层次：轨迹规划和路径跟踪控制。在上层，考虑到乘坐舒适性，在不同的车道变换持续时间下会生成无碰撞的变道轨迹簇。然后，通过考虑车辆动力学安全性，避免周围车辆的碰撞以及驾驶员的偏爱来选择最佳车道变更持续时间，从而提供该集群中最合适的轨迹。在最底层，在纵向和横向路径跟随控制器设计中，提出了一种多输入多输出三步非线性方法。基于Lyapunov函数严格证明了闭环系统的稳定性。最后，在veDYNA平台上通过高保真的全车模型验证了所提算法的有效性。