This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Lane Change Maneuver for Ahs Applications
Published October 24, 1994 by Society of Automotive Engineers of Japan in Japan
Lane change maneuver is considered as a part of the lateral control of the Automated Highway Systems (AHS). The desired trajectory for lane change maneuvers has been designed with ride comfort consideration by restricting the lateral acceleration and the lateral jerk to be under the prescribed value. Since the desired trajectory is assumed not to be marked physically on the highway, it is called Virtual Desired Trajectory (VDT). Unlike lane following, the tracking error is not available for the controller, and the steering command for lane change maneuver must be determined using only on- board sensors, such as lateral accelerometer and yaw rate sensor. Two controllers are designed for lane change maneuvers: Frequency Shaping Linear Quadratic (FSLQ) optimal controller and sliding mode controller. Frequency shaping is implemented to achieve a smoother control action and robustness to unmodelled dynamics. The sliding mode controller utilizes a filtered error signal to improve ride comfort. Simulation results show the effectiveness of the two controllers.