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Article Navigation >  Journal of Traffic and Transportation Engineering  > 2009  >  9(3): 112-116
REN Dian-bo, ZHANG Jing-ming, CUI Sheng-min, ZHANG Ji-ye. Longitudinal and lateral coupling control for lane change[J]. Journal of Traffic and Transportation Engineering, 2009, 9(3): 112-116. doi: 10.19818/j.cnki.1671-1637.2009.03.022
Citation: REN Dian-bo, ZHANG Jing-ming, CUI Sheng-min, ZHANG Ji-ye. Longitudinal and lateral coupling control for lane change[J]. Journal of Traffic and Transportation Engineering, 2009, 9(3): 112-116. doi: 10.19818/j.cnki.1671-1637.2009.03.022
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Longitudinal and lateral coupling control for lane change

doi: 10.19818/j.cnki.1671-1637.2009.03.022
  • 1.

    School of Automobile Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, Shandong, China

  • 2.

    Traction Power State Key Laboratory, Southwest Jiaotong University, Chengdu 610031, Sichuan, China

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  • Author Bio:

    REN Dian-bo(1968-), male, lecturer, PhD, +86-631-5687022, rdianbo@tom.com

  • Received Date: 2008-12-11
  • Publish Date: 2009-06-25
    Abstract
  • Based on vehicle longitudinal and lateral coupling dynamics model, the integrated longitudinal and lateral control for lane change in automated highway system was studied.Assuming the lateral acceleration meeted trapezoidal constraint, the desired yaw angle and yaw rate for lane change were derived by predetermined virtual trajectory, and the data of yaw rate can be measured with onboard sensors.With finite time sliding mode reaching law, the coupled lane change variable structure control law was designed.The stability of the control system was analyzed by using Lyapunov function method, and the sufficient condition ensuring the asymptotic stability of the control system was obtained.Simulation result shows that based on the proposed control law, vehicle has good track performance under various longitudinal velocities, and the track error is less than 0.06 m.

     

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    • References(9)
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