Transition manoeuvres in intelligent vehicle highway systems

Research in the area of vehicle control in intelligent vehicle highway systems (IVHS) has primarily focussed on either purely longitudinal or purely lateral control of vehicles. This paper introduces transition manoeuvres in such systems. These include vehicle merge, split and lane change procedures. A combined longitudinal and lateral vehicle model has been developed to study this problem. The paper discusses the development of control algorithms for controlling vehicles in such situations. The system does not have a well defined relative degree and hence the traditional I/O linearized approach is not possible without further modifications. The paper presents a method for using the structure of our outputs to solve the control problem