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Vehicle Lane Change Maneuver In Automated Highway Systems

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  • Chee, Wonshik
  • Tomizuka, Masayoshi

Abstract

In this report, lane change maneuver for an automated highway system is investigated as a tracking problem with respect to the virtual desired trajectory (VDT). The two main issues discussed in the report are: 1) design of virtual desired trajectory and 2) design of control algorithms. Four types of desired trajectories are considered. The use of onboard sensors for closed loop control are used. Three closed loop controllers, based on 1) linear quadratic (LC) optimal control, 2) frequency shaped linear quadratic (FSLQ), and 3) sliding mode control are evaluated. Simulation results show that these controllers provide acceptable performance in the presence of uncertainties and disturbances.

Suggested Citation

  • Chee, Wonshik & Tomizuka, Masayoshi, 1994. "Vehicle Lane Change Maneuver In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt29j5s3gk, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt29j5s3gk
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    References listed on IDEAS

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    1. Peng, Huei & Tomizuka, Masayoshi, 1991. "Optimal Preview Control For Vehicle Lateral Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3jj2q67v, Institute of Transportation Studies, UC Berkeley.
    2. Hessburg, Thomas & Peng, Hei & Zhang, Wei-bin & Arai, Alan & Tomizuka, Masayoshi, 1994. "Experimental Results Of Fuzzy Logic Control For Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1jv1q3md, Institute of Transportation Studies, UC Berkeley.
    3. Hessburg, Thomas & Peng, Huei & Tomizuka, Masayoshi & Zhang, Wei-bin, 1991. "An Experimental Study On Lateral Control Of A Vehicle," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3rr9371v, Institute of Transportation Studies, UC Berkeley.
    4. Peng, Huei & Tomizuka, Masayoshi, 1990. "Lateral Control Of Front-wheel-steering Rubber-tire Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4t17m5nn, Institute of Transportation Studies, UC Berkeley.
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    Citations

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    Cited by:

    1. He, Jia & He, Zhengbing & Fan, Bo & Chen, Yanyan, 2020. "Optimal location of lane-changing warning point in a two-lane road considering different traffic flows," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 540(C).
    2. Hessburg, Thomas & Tomizuka, Masayoshi, 1995. "Fuzzy Logic Control For Lane Change Maneuvers In Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4zs9k1vx, Institute of Transportation Studies, UC Berkeley.
    3. Chen, A. L. & Savas, Omer & Hedrick, Karl, 1997. "Transient Vehicle Aerodynamics In Four-car Platoons," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5048k2gw, Institute of Transportation Studies, UC Berkeley.
    4. Talbot, Craig Matthew & Papadimitriou, Iakovos & Tomizuka, Masayoshi, 2004. "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7xd2r0cc, Institute of Transportation Studies, UC Berkeley.
    5. Chee, Wonshik & Tomizuka, Masayoshi, 1997. "Unified Lateral Motion Control Of Vehicles For Lane Change Maneuvers In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4ws4d2j0, Institute of Transportation Studies, UC Berkeley.

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