Adaptive Method to Trajectory Tracking for Lane Changing

Abstract

In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.

Situation assessment and decision making for lane change assistance using ensemble learning methods

“…Some previous studies indicate that lane changing and lane merge maneuvers account for approximately 5% of all crashes and as high as 7% of all crash fatalities (Chovan, Tijerina, Alexander, & Hendricks, 1994;Habenicht, Winner, Bone, Sasse, & Korzenietz, 2011;Rodemerk, Habenicht, Weitzel, Winner, & Schmitt, 2012). Due to the importance of the lane changing decision, recent literature focus on various aspects of lane changing such as discretionary lane-change characteristics multiple-vehicle collisions (Nagatani & Yonekura, 2014), predicting driver lane changing behavior (Zheng, Nagoya, & Suzuki, 2014), modeling highway lane changing , detecting lane change cut-ins using video images (Lee, Kim, Lee, Lee, & Kim, 2013), lane changing on curved roads (Guo, Ge, Yue, & Zhao, 2014), lane changing and heavy vehicles (Yang, Wang, & Wang, 2014), lane changing rules for microscopic modeling (Hable & Schreckenberg, 2014), and lane changing trajectory tracking (Ren, Zhang, & Wang, 2014).…”

Design of variable curvature lane changing control system based on inverse system decoupling

“…In addition, the handling stability 22,23 and path tracking performance 24,25 of the vehicle must be considered during the lane changing process. Ren et al 26 studied the adaptive control method for the existing lane changing path.…”