Automatic steering control is a complex nonlinear system, which includes lane keeping and lane changing.
自主侧向控制实现汽车自动调节转向和车道变换，是复杂的非线性控制系统。
By analyzing the track of vehicle's lane changing and the span of lane changing, we establish the relation between velocity and Angle of lane changing.
通过对实际车辆单元换道轨迹的观测与换道执行时间的统计分析，建立了车辆换道转角与车速的函数关系。
Three stages of drivers' discretionary lane changing behaviors are modeled to characterize the demand generation, gap acceptance and execution of lane changing, respectively.
对于任意性换道行为，根据驾驶员换道的三个阶段分别建立换道需求产生模型、间隙检测模型和执行换道模型。
By analyzing the competition and co operation relationship between the vehicles involved in the lane changing behavior, based on the multi agent system, a new lane changing model is presented.
通过分析车辆换道时车辆之间的竞争与合作关系，结合多智能体系统，提出一种新的换道模型。
Firstly, according to the vehicle dynamics and the safety restriction, the paper deduced the safety operation speed under the state of car-following and lane-changing.
首先根据车辆动力学原理和安全约束条件，推导了跟车安全速度模型、换车道安全速度模型。
Firstly, according to the vehicle dynamics and the safety restriction, the paper deduced the safety operation speed under the state of car-following and lane-changing.
首先根据车辆动力学原理和安全约束条件，推导了跟车安全速度模型、换车道安全速度模型。
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