Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="478573.fig.008a" src="https://static-preview.hindawi.com/articles/mpe/volume-2014/478573/figures/478573.fig.008a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Controller input of linear velocity <svg height="11.9625" id="M165" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 14.725 11.9625" width="14.725" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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t114 146l32 145l74 26h11q-52 -199 -80 -347q-8 -39 6 -39q7 0 32 17.5t47 39.5z" id="x1D462"></path></g>
<g transform="matrix(.012,-0,0,-.012,9.213,11.762)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
</svg></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="478573.fig.008b" src="https://static-preview.hindawi.com/articles/mpe/volume-2014/478573/figures/478573.fig.008b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Controller input of angular velocity <svg height="12.0625" id="M166" style="vertical-align:-3.39066pt" version="1.1" viewbox="0 0 16.424999 12.0625" width="16.424999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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q-11 -37 -23.5 -100t-12.5 -92q0 -47 16.5 -71.5t44.5 -24.5q62 0 95.5 67t33.5 160q0 107 -63 152l1 9q14 14 45 14q29 0 57.5 -44t28.5 -114z" id="x1D714"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.912,11.863)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
</svg></td></tr></table></td></tr></table>

<table>Inputs curves of the tracking controller.</table>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road 