Abstract:The dynamic change of velocity and acceleration of obstacle vehicle under the actual dynamic traffic environmental can result that the real-time reference trajectory of lateral obstacle for intelligent vehicle is not smooth. To overcome the bad control effect of the controller caused by the smooth trajectory, parameters perturbation and signal disturb, the robust control strategy for dynamic lateral obstacle avoidance of intelligent vehicles considering parameters perturbation was presented. The strategy was divided into dynamic trajectory planning layer and dynamic trajectory tracking layer. According to dynamic change of acceleration and velocity of obstacle vehicle, the dynamic trajectory planning algorithm based on obstacle avoidance limit position was proposed to plan real-time reference trajectory which can ensure lateral safety of obstacle avoidance for intelligent vehicles in the dynamic trajectory planning layer. Considering the perturbation of mass, moment of inertia and front and rear lateral stiffness parameters, a robust controller considering parameter perturbation is designed to accurately tracking real-time reference trajectory of lateral obstacle avoidance in the dynamic trajectory tracking layer. Finally, the proposed dynamic lateral obstacle avoidance control strategy is validated by combining Matlab/Simulink with Trucksim. The simulation results indicate that: according to the real-time change of acceleration and speed of obstacle vehicle, the real-time safety reference trajectory of lateral obstacle avoidance can be achieved in the dynamic trajectory planning layer. The real-time reference trajectory of lateral obstacle avoidance can be smoothly,stably and well tracked in the dynamic trajectory tracking layer. And the robust controller can overcome the perturbation of mass, inertia and lateral stiffness parameters of front and rear axles, and the variety of the real-time reference trajectory change. Therefore, dynamic lateral obstacle avoidance of intelligent vehicles is realized and the vehicle yaw stability is maintained during the whole process of obstacle avoidance.