Autonomous Lane Change Control Using Proportional-Integral-Derivative Controller and Bicycle Model

Joshi, Ajinkya A.; Peters, Diane L.; Bastiaan, Jennifer

doi:10.4271/2020-01-0215

Cited by 5 publications

(3 citation statements)

References 11 publications

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“…Even though the simulation results indicate a feasible lane change process; however due to the simplicity of the PID controller is not satisfying for applications that need high tracking accuracy. A PID controller was also used in [78] to perform the lane-change processes with a bicycle vehicle dynamic model driving at low speed. This controller aimed to control the steering wheel angle according to the lateral displacement and yaw motion of the vehicle.…”

Section: B Lateral Controlmentioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

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Connectivity and autonomy are considered two of the most promising technologies to improve mobility, fuel consumption, travel time, and traffic safety in the automated transportation industry. These benefits can be realized through vehicle platooning. A vehicle platoon is composed of a group of connected automated vehicles (CAVs) traveling together at consensual speed, following the leading vehicle (leader) while maintaining a prespecified inter-vehicle distance. This paper reviews the different existing control techniques associated with the transitional platoon maneuvers such as merge/split and lane change. Different longitudinal and lateral vehicle dynamics that are mainly used in the transitional platoon maneuvers are discussed. The most used control algorithms for both longitudinal and lateral control used for transitional platoon maneuvers are reviewed and the advantages and limitations of each control strategy are discussed. The most recent articles on platoon control maneuvers have been analyzed based on the proposed control algorithm, homogeneously or heterogeneously of platoon members, type of platoon maneuver, the aim of control problem, type of implementation, and used simulation tools. This paper also discusses different trajectory planning techniques used in lateral motion control and studies the most recent research related to trajectory planning for automated vehicles and summarizes them based on the used trajectory planning technique, platoon or/and lane change, the type of traffic, and the cost functions. Finally, this paper explores the open issues and directions for future research.

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Section: B Lateral Controlmentioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

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“…From the tables [2,[4][5][6][7], it can be seen that 90% of the proposed steering control techniques are based on either the theoretical models or simulations which do not demonstrate the same applicability in the real-time road conditions. One of the main problems in the practical implementation of these theoretical models is that these systems are based on highly complex mathematical models that do not perform well in the real-time road conditions [133][134][135]. Moreover, these models do not consider the dynamic factors of real-time environments, which greatly influence the motion of the autonomous vehicles.…”

Section: Lack Of Practical Implementation Of Steering Controlmentioning

confidence: 99%

Are Self-Driving Vehicles Ready to Launch? An Insight into Steering Control in Autonomous Self-Driving Vehicles

Rasib

Butt

Khalid

et al. 2021

Mathematical Problems in Engineering

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In the last couple of years, academia-industry collaboration has demonstrated rapid advancements in the development of self-driving vehicles. Since it is evident that self-driving vehicles are going to reshape the traditional transportation systems in near future through enhancement in safe and smart mobility, motion control in self-driving vehicles while performing driving tasks in a dynamic road environment is still a challenging task. In this regard, we present a comprehensive study considering the evolution of steering control methods for self-driving vehicles. Initially, we discussed an insight into the traditional steering systems of the vehicles. To the best of our knowledge, currently, there is no taxonomy available, which elaborates steering control methods for self-driving vehicles. In this paper, we present a novel taxonomy including different steering control methods which are categorized into deterministic and heuristic steering control methods. Concurrently, the abovementioned techniques are critically reviewed elaborating their strengths and limitations. Based on the analysis, key challenges/research gaps in existing steering control methods along with the possible solutions have been briefly discussed to improve the effectiveness of the steering system of self-driving vehicles.

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“…based controllers are implemented. Additionally, simple linear [9] or nonlinear [10] feedback control method has also been proven to be suitable for this task.…”

Section: B Related Workmentioning

confidence: 99%

Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change

Zeng

Zhang

et al. 2021

Preprint

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This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization problem using control Lyapunov functions and control barrier functions (CLF-CBF-QP) is used to calculate the system's optimal inputs via rule-based control strategies. The FSM can make switches between different states automatically according to the command of driver and traffic environment, which makes the ego vehicle find a safe opportunity to do a collision-free lane change maneuver. By using a convex quadratic program, the controller can guarantee the system's safety at a high update frequency. A set of pre-designed typical lane change scenarios as well as randomly generated driving scenarios are simulated to show the performance of our controller.

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Autonomous Lane Change Control Using Proportional-Integral-Derivative Controller and Bicycle Model

Cited by 5 publications

References 11 publications

Platoon Transitional Maneuver Control System: A Review

Platoon Transitional Maneuver Control System: A Review

Are Self-Driving Vehicles Ready to Launch? An Insight into Steering Control in Autonomous Self-Driving Vehicles

Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change

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