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Longitudinal and lateral control for automated lane change maneuvers

Julia Nilsson (Institutionen för signaler och system, Mekatronik) ; Mattias Brännström ; Erik Coelingh (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik)
American Control Conference (0743-1619). Vol. 2015-July (2015), p. 1399-1404.
[Konferensbidrag, refereegranskat]

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.



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Denna post skapades 2015-07-13. Senast ändrad 2016-06-03.
CPL Pubid: 219724

 

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