Abstract
Lane changing is a cognitively demanding task that drivers perform frequently while driving on highways at high speed. This paper presents a predictive control framework which prevents collisions during lane change maneuvers. Approaches based on steering angle control are commonly used in the literature. These approaches may inadvertently take away the ultimate control authority of the driver. Also they involve a separate lower level steering control that requires subjective and complex steering feel calibration and steering torque constraints. The method proposed in this paper is based on a corrective torque formulation which incorporates the steering dynamics and driver response in the model. We tested the proposed controller in an experimental vehicle with a human driver. The results demonstrate that the proposed method avoids collision threats with minimum intervention.
Original language | English |
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Title of host publication | Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16 |
Editors | Johannes Edelmann, Manfred Plochl, Peter E. Pfeffer |
Publisher | CRC Press/Balkema |
Pages | 43-48 |
Number of pages | 6 |
ISBN (Print) | 9781315265285 |
Publication status | Published - 2017 |
Event | 13th International Symposium on Advanced Vehicle Control, AVEC 2016 - Munich, Germany Duration: 13 Sept 2016 → 16 Sept 2016 |
Publication series
Name | Advanced Vehicle Control AVEC’16: Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC'16) |
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Conference
Conference | 13th International Symposium on Advanced Vehicle Control, AVEC 2016 |
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Country/Territory | Germany |
City | Munich |
Period | 13/09/16 → 16/09/16 |
Bibliographical note
Publisher Copyright:© 2017 Taylor & Francis Group, London.