Method and system for controlling change of lane

摘要

A lane change control method and system that include a driver mode setting unit that sets a driver's lane change mode based on a lane change mode input from a plurality of lane change modes and a lane change path generation unit that generates a lane change path based on the lane change mode set by the driver mode setting unit, a transverse acceleration of vehicle, a target path angle and a target transverse distance path. In addition, a path follow up controller executes a lane change based on the lane change path by calculating steering angle information that corresponds to the lane change path.

主权项

1. A lane change control system, comprising;
a driver mode setting unit configured to set a driver's lane change mode based on a lane change mode input from a plurality of lane cange modes; a lane change path generation unit configured to generate a lane change path based on the lane change mode set by the driver mode setting unit, a transverse acceleration of vehicle, a target path angle and a target transverse distance path; and a path follow up controller configured to execute a lane change based on the lane change path by calculating steering angle information that corresponds to the lane change path, wherein the path follow up controller comprises:
a path error feedback controller configured to;determine a difference between the lane change path and a current transverse position of the vehicle based on target transverse distance path information generated by the transverse position of the vehicle and the lane change path generation unit and measuring information of the vehicle;calculate a first target front wheel angle; andoutput a path error control signal that corresponds to the first target front wheel angle;a disturbance feed forward controller configured to;calculate a second front wheel angle based on a road curvature of the vehicle, a road inclination angle information of the vehicle and the measuring information of the vehicle; andgenerate and output a disturbance control signal that corresponds to the second target front wheel angle;a state feedback controller configured to;calculate a third target front wheel angle based on vehicle state information and the measuring information of the vehicle; andgenerate and output a vehicle state control signal that corresponds to the third target front wheel angle;an integrated observer configured to transmit the measuring information of the vehicle transmitted by a sensor to the path error feedback controller, the disturbance feed forward controller, and the state feedback controller; anda steering controller configured to calculate a final target front wheel angle for the lane change based on the path error control signal, the disturbance control signal and the vehicle state control signal to determine the steering angle information, wherein the steering angle controller is configured to calculate the final target front wheel angle by combining the first target front wheel angle, the second front wheel angle, and the third front wheel angle.