Research on Lane Change Constraint Control Based on Pavement Pothole Detection

With the development of vehicle active safety technology, people's requirements for vehicle driving safety are constantly improved. In the complex and changeable road environment, the existence of potholes ahead will affect the normal driving of intelligent vehicles. This paper puts forward a kind of road pothole detection-based collision avoidance strategy. The strategy uses volume and neural network to identify holes. The lane changing trajectory is designed based on the results of tunnel identification. Based on the constraint control theory in the process of lane changing DYC controller is designed, to guarantee that the side-slip angle is always constrained within the boundary value. The simulation results verify the validity of the algorithm.