Longitudinal and lateral control for automated lane change maneuvers
Paper in proceedings, 2015

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.

Author

Julia Nilsson

Chalmers, Signals and Systems, Systems and control, Mechatronics

Mattias Brännström

Volvo Cars

Erik Coelingh

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

American Control Conference

0743-1619 (ISSN)

Vol. 2015-July 1399-1404

Areas of Advance

Transport

Subject Categories

Other Engineering and Technologies

Driving Forces

Innovation and entrepreneurship

DOI

10.1109/ACC.2015.7170929

ISBN

978-1-4799-8684-2

More information

Latest update

11/16/2018