Abstract: In this paper，an approach of variable-speed lane-change control of vehicle，taking account of lateral and vertical control，was proposed.A variable-speed movement model of four-wheeled vehicle was developed first，and then a dynamic target position concept was used for a control mechanism.Additionally，a controller with controlling lateral motion and vertical motion of vehicle was designed by using the fuzzy logic as a control strategy，the T-S fuzzy model as its structure and an adaptive neural network as a means of adjusting membership function.The simulation result showed that the control approach was feasible and effective，and could simulate lane changing characteristic of vehicle in actual traffic situation well.

Key words: intelligent vehicles, variable-speed, lane changing, dynamic target position

摘要： 提出了一种能够兼顾横向控制和纵向控制的可变速自动换道控制方法。首先建立了可变速的车辆运动方程，并采用基于动态目标位置概念的控制机制，以模糊逻辑为控制策略，以T-S模糊模型为控制结构，以自适应神经网络为隶属度函数的参数调整手段，设计出一种兼顾智能车辆横向控制和纵向控制的运动控制器。仿真结果表明，提出的控制方法是可行的、有效的，并且较为理想地模拟实际交通环境中车辆换道的行为特性。

关键词: 智能车辆, 可变速, 车道变换, 动态目标位置