Optimal Lane Change Control of Intelligent Vehicle Based on MPC

This paper mainly focuses on optimal lane change problem of intelligent vehicles. The multi-constraint model predictive control method is employed to implement real-time trajectory planning without a pre-defined trajectory. The lane change problem can be formulated as a nonlinear optimization problem with multiple constraints and can be solved by real-time optimization of MPC-based controller. To verify the effectiveness of the proposed optimal lane change control controller, Simulink and Carsim co-simulations are conducted in two lane change scenarios under three different working conditions. The simulation results demonstrate that the proposed optimal lane change control controller controller is enough sustainable and applicable for many driving conditions.