Experimental study of lane change manoeuvre for AHS applications

Lateral motion control of a vehicle in automated highway systems (AHS) includes lane following maneuvers and lane change maneuvers. In contrast to lane following maneuvers, lane change maneuvers may be performed without direct tracking error measurement. Major substantial issues of lane change maneuvers include: (1) tracking control under the ride comfort constraint, (2) position estimation using sensors mounted on the vehicle (on-board sensors), and (3) transition between lane change maneuver and lane following maneuver. In this paper, the first and the second issues are studied by both simulations and experiments. The sliding mode controller using filtered error has been proposed as a tracking control algorithm and the reduced order Kalman filter is designed as a state estimator. Experimental results show a good correspondence to simulation results and effectiveness of the control algorithm