Trajectory Tracking Control for Lane Change Maneuvers in Autonomous Vehicles

This research advances autonomous vehicle capabilities by developing novel trajectory planning and control techniques for lane changes using free-driving and vehicle-following modes. This study addresses the critical challenge of enhancing lane change precision to minimize accident risks on highways. A quintic polynomial is used for trajectory generation, and a PID controller is employed for trajectory tracking, integrating collision prevention strategies for safety assurance. The contributions of this work include the development of an efficient control scheme that adapts to dynamic traffic conditions and improves the robustness of lane-changing maneuvers. The proposed approach significantly enhances the accuracy and reliability of autonomous lane changes, providing a pathway for safer autonomous driving in complex highway scenarios.