Research on autonomous lane change system based on highway intelligent vehicles

This paper focuses on the research of the intelligent autonomous lane-changing system for vehicles on expressways. A method for calculating driver dissatisfaction is constructed to determine the target lane for lane-changing. Based on fuzzy control and genetic algorithm, the feasibility determination model for lane-changing is optimized. Considering both physical constraints and comfort effects, the optimal lane-changing path is optimized. Moreover, model predictive control theory is applied for trajectory tracking control simulation. The research results show that the vehicle-related indicators during the lane-changing process are all within a reasonable range, providing a new idea for the control of intelligent vehicle's lane-changing behavior.