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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 478573, 9 pages
Research Article

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

1School of Automotive Engineering, State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
2College of Electromechanical & Information Engineering, Dalian Nationalities University, Dalian 116600, China

Received 29 October 2013; Accepted 18 December 2013; Published 9 January 2014

Academic Editor: Rui Mu

Copyright © 2014 Lie Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road. The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly. The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road. Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable. The Lyapunov theory is applied to analyze the stability of the proposed tracking controller. Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.