Study on the optimal lane changing steering input under different road adhesion coefficients

摘要

To study the influence of road adhesion coefficient on lane changing steering input, vehicle handling inverse dynamics based on hp-adaptive Radau pseudospectral method is proposed in this article. First, a steering inverse dynamics model is established and then the inverse dynamics problem is converted into an optimal control problem. Second, by applying the hp-adaptive Radau pseudospectral method, the optimal control problem is converted into a nonlinear programming problem, which is then solved through sequential quadratic programming. Besides, two contrast verifications are carried out to validate the correctness and advantages of the proposed method. The simulation results show that the obtained control input satisfies the vehicle dynamic constraints. And comparing with Gauss Pseudospectral Method (GPM), hp-adaptive Radau pseudospectral method has higher computational accuracy and computational efficiency when solving non-smooth problem. The study of optimal steering input can provide guidance for driver's lane changing behavior, so that the accident rate caused by human factors can be decreased. The proposed method can provide a reference value into the active safety of manned and unmanned vehicles.