In order to improve the intelligent vehicle lane-changing performance, an active lane-changing control algorithm is proposed considering the changes of road curvature and vehicle speed. Firstly, the vehicle dynamics model considering vehicle speed variation and lane-changing safety distance is established, and the expected lane-changing trajectory model under the curved road is designed simultaneously. Then, taking the yaw rate and longitudinal speed as the control objectives of lateral and longitudinal motions, respectively, the sliding-mode variable structure control method based on Lyapunov stability condition is adopted, and the trajectory tracking controller is designed by combining the inverted method to track the desired lane-changing trajectory. Finally, the lane-changing trajectory model and trajectory tracking controller are verified in simulation platform of CarSim/Simulink and hardware-in-the-loop (HIL) test bench. The results show that the proposed trajectory tracking control method can perform the lane-changing behavior well under different road curvatures and vehicle speeds while maintaining high trajectory tracking control accuracy.
With the implementation of the national strategy of “transportation power”, the transportation major is facing the transformation of new engineering majors. Practical education is an important link in the training of new engineering majors in application-oriented universities and plays a vital role in the quality of talent training. The transformation and upgrading of traditional majors has promoted the transformation of traditional school-enterprise cooperation to the integration of industry and education. Under the background of the integration of industry and education, the author puts forward some viewpoints, such as the precise orientation of talent training, the improvement of the system construction of practical education base, and the broadening of the practical education forms of the integration of industry and education. Taking Anhui Sanlian University as an example, This paper analyzes the practice and achievement of university-enterprise cooperative practical education construction for new engineering majors under the background of the integration of industry and education.
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