Tracking Control of Intelligent Vehicle Lane Change Based on RLMPC

• Main Authors: Hou Quanshan, Zhang Yanan, Zhao Shuai, Hu Yunhao, Shen Yongwang
• Format: Article
• Language: English
• Published: EDP Sciences 2021-01-01
• Series: E3S Web of Conferences
• Online Access: https://www.e3s-conferences.org/articles/e3sconf/pdf/2021/09/e3sconf_iaecst20_04019.pdf

Autonomous lane changing, as a key module to realize high-level automatic driving, has important practical significance for improving the driving safety, comfort and commuting efficiency of vehicles. Traditional controllers have disadvantages such as weak scene adaptability and difficulty in balancing multi-objective optimization. In this paper, combined with the excellent self-learning ability of reinforcement learning, an interactive model predictive control algorithm is designed to realize the tracking control of the lane change trajectory. At the same time, two typical scenarios are verified by PreScan and Simulink, and the results show that the control algorithm can significantly improve the tracking accuracy and stability of the lane change trajectory.