At present, the lane changing technology for a single driving environment has been relatively mature, but the actual situations are much more complicated, such as the changing curvature and the changes in road conditions. In this paper, a new lane changing obstacle avoidance control strategy for the variable curvature road was proposed. It has two stages including path planning for variable curvature lane changing and inverse system decoupling (ISD) control for path tracking. The first stage established the lane changing path models for the variable curvature road. A longitudinal-lateral safe distance model was proposed to constrain the safe boundary of the lane changing path. The second stage proposed a dynamic decoupling method for longitudinal and lateral motion based on the inverse system decoupling, a direct yaw moment and active front wheel steering coordinated control method was designed. The inverse system decoupling algorithm can correct the single point preview (SPP) method to improve the stability and the path tracking accuracy in the lane changing obstacle avoidance process. The strategy was simulated by CarSim/Simulink co-simulation, and the experiments were carried out on the hardware-in-the-loop platform. The results show that the proposed control strategy can effectively avoid obstacles when the vehicle is driving on the variable curvature road. Besides, for the different road conditions and the strong non-linearity generated during the lane changing process, the control strategy can reduce the tracking error by a maximum of 32.7%, both the yaw rate and side slip angle can be controlled in a smaller range.

中文翻译：

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基于逆系统解耦的变曲率换道控制系统设计

目前，针对单一驾驶环境的换道技术已经比较成熟，但实际情况要复杂得多，比如曲率变化、路况变化等。本文提出了一种新的变曲率道路换道避障控制策略。它有两个阶段，包括用于可变曲率换道的路径规划和用于路径跟踪的逆系统解耦 (ISD) 控制。第一阶段建立了变曲率道路的换道路径模型。提出了纵向-横向安全距离模型来约束换道路径的安全边界。第二阶段提出了基于逆系统解耦的纵向和横向运动的动态解耦方法，设计了一种直接横摆力矩主动前轮转向协调控制方法。逆系统解耦算法可以纠正单点预览（SPP）方法，提高换道避障过程中的稳定性和路径跟踪精度。该策略通过CarSim/Simulink联合仿真进行仿真，实验在硬件在环平台上进行。结果表明，当车辆在变曲率道路上行驶时，所提出的控制策略可以有效地避开障碍物。此外，针对不同的路况和换道过程中产生的强非线性，该控制策略最多可减少32.7%的跟踪误差，横摆率和侧滑角都可以控制在更小的范围内.