## 2 Related Work  
The most fundamental requirement for accomplishing lane change is vehicle motion control that meets the criteria of trajectory tracking, in addition to faultless lane change judgment and vehicle trajectory planning [19]. If the vehicle trajectory tracking does not satisfy the kinematics and dynamics of the vehicle, as well as the driving limitations, the vehicle will vibrate while driving. In addition to reducing passenger comfort, driving shock creates a significant potential safety threat when driving at high speeds. In high-speed driving scenarios, the controller must meet the requirements of quick response speed, high response accuracy, and high adaptability to respond to diverse vehicle lane-changing conditions. In addition to the studies mentioned above, there are numerous other studies concentrating on the tracking of autonomous vehicles' lane change trajectories, the most of which are based on kinematics or dynamics models and achieve tracking control using different control techniques. In order to determine the expected yaw angle and yaw speed of vehicles changing lanes, [PERSON] et al. [26] created the lateral acceleration based on positive and negative trapezoidal restrictions. After that, the tracking control law of the longitudinal and lateral coupling variable structure for lane change is constructed using the finite-time sliding mode approach law. [PERSON] et al. [27] researched lane change control of intelligent vehicles employing four-wheel active steering technology to enhance the control performance of vehicle lateral movement. A standard cosine function lane change trajectory is the lane change route model. They created a Simulink simulation model for the closed-loop control system of the vehicle lane shifting path tracking and performed simulation experiments based on the fuzzy adaptive PID theory. The outcomes of the simulation demonstrate that the proposed lane change tracking controller can actually accomplish the desired lane change track tracking. [PERSON] et al. [28] built a novel dummy variable and derived the trajectory tracking controller of a closed-loop control structure by applying integral backsliding approach in order to accomplish lane change trajectory planning and tracking in curves and increase the active safety of vehicles. The trajectory tracking controller's closed-loop control structure is constructed, and Lyapunov theory is used to assess the stability of the suggested trajectory tracking controller. In order to solve the vehicle's robust path-following control problem and satisfy the requirements for lateral stability, [PERSON] et al. [29] proposed a \(H_{\infty}\) robust control scheme. Their proposal was made in response to the phenomenon that the delay and packet loss brought on by the network would adversely affect the stability and performance of the system. Finally, a comparison with the scenario of no delay and packet loss is used to demonstrate the usefulness of the suggested strategy. For model uncertainty and measurement noise, [PERSON] et al. [30] suggested a robust control rule to inhibit these two matching variables, built an adaptive robust controller to maximize path tracking accuracy, and demonstrated its effectiveness employing MATLAB/Simulink-Trucksim co-simulation. In order to realize the path tracking capability under complicated road scenarios such as low friction coefficient and road disturbance, people have made unremitting efforts. A multi-point pre-view trajectory tracking technique for autonomous vehicles was proposed by [PERSON] et al. [31]. This tracking algorithm takes into account the complexity of the sweeper's practical application background and employs a way of combining feedforward and feedback control to regulate the vehicle's lateral movement. The feedforward control section calculates the needed angle using the road information gained from the target trajectory's curvature detection component, while the feedback control is corrected using the lateral deviation obtained from the trajectory deviation detection.