Title :
Lane change maneuver of automobiles for the intelligent vehicle and highway system (IVHS)
Author :
Chee, Wonshik ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fDate :
29 June-1 July 1994
Abstract :
A lane change maneuver is a part of lateral control of an automated highway system. Assuming no direct measurement of its position during transition from one lane to another, a vehicle is controlled to follow the virtual desired trajectory using only on-board sensors. Linear quadratic (LQ), frequency shaped LQ, and sliding mode control algorithms have been designed. The simulation results show satisfactory tracking performances under extreme driving conditions.
Keywords :
automobiles; intelligent control; linear quadratic control; road traffic; tracking; traffic control; variable structure systems; automated highway system; automobiles; frequency shaped LQ control; intelligent vehicle and highway system; lane change maneuver; linear quadratic control; on-board sensors; road vehicle control; sliding mode control; tracking; virtual desired trajectory; Automated highways; Automatic control; Automobiles; Control systems; Frequency; Intelligent sensors; Intelligent vehicles; Position measurement; Road transportation; Sliding mode control;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.735254
