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Longitudinal and lateral control for automated lane change maneuvers | IEEE Conference Publication | IEEE Xplore

Longitudinal and lateral control for automated lane change maneuvers


Abstract:

This paper considers the trajectory planning problem of a vehicle system for automated lane change maneuvers. By considering a lane change maneuver as primarily a longitu...Show More

Abstract:

This paper considers the trajectory planning problem of a vehicle system for automated lane change maneuvers. By considering a lane change maneuver as primarily a longitudinal planning problem, the proposed trajectory planning algorithm determines whether there exists a longitudinal trajectory which allows the ego vehicle to safely position itself in a gap between surrounding vehicles in the target lane. If such a longitudinal trajectory exists, the algorithm plans the corresponding lateral trajectory. The lane change trajectory planning problem is thereby reduced to solving low-complexity model predictive control problems resulting in loosely coupled longitudinal and lateral motion trajectories. Simulation results demonstrate the ability of the proposed algorithm to generate smooth collision-free trajectories for lane change maneuvers.
Date of Conference: 01-03 July 2015
Date Added to IEEE Xplore: 30 July 2015
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ISSN Information:

Conference Location: Chicago, IL, USA

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