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Automated lane change controller design

Content Provider	IEEE Xplore Digital Library
Author	Hatipoglu, C. Ozguner, U. Redmill, K.A.
Copyright Year	2000
Abstract	The primary focus of study in this paper is the background control theory for automated lane change maneuvers. We provide an analytic approach for the systematic development of controllers that will cause an autonomous vehicle to accomplish a smooth lane change suitable for use in an Automated Highway System. The design is motivated by the discontinuous availability of valid preview data from the sensing systems during lane-to-lane transitions. The task is accomplished by the generation of a virtual yaw reference and the utilization of a robust switching controller to generate steering commands that cause the vehicle to track that reference. In this way, the open loop lane change problem is converted into an equivalent virtual reference trajectory tracking problem. The approach considers optimality in elapsed time at an operating longitudinal velocity. Although the analysis is performed assuming that the road is straight, the generalization of the proposed algorithm to arbitrary road segments is rather straightforward. The outlined lane change algorithm has been implemented and tested on The Ohio State University test vehicles. Some of the experimental results are presented at the conclusion of this paper.
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	13
Ending Page	22
Page Count	10
File Size	702715
File Format	PDF
ISSN	15249050
Volume Number	4
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automatic control Testing Control theory Control systems Remotely operated vehicles Road vehicles Mobile robots Automated highways Robust control Automatic generation control
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

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