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Erschienen in:
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2022 | OriginalPaper | Buchkapitel

Autonomous Vehicle Lateral Control for the Lane-change Maneuver

verfasst von : Lhoussain El Hajjami, El Mehdi Mellouli, Mohammed Berrada

Erschienen in: WITS 2020

Verlag: Springer Singapore

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Abstract

During the fourth industrial revolution, the automotive industry is seeking to develop a completely autonomous ground vehicle capable of adapting to all situations encountered; including the lane change maneuver during normal driving on the highway. This paper describes, at first, the planning of the lane change maneuver using a quintic mathematic function, as a second step; a law of control based on higher-order sliding mode is applied. The adopted strategy achieves good results in terms of sideslip angle and tracking error, especially with the consideration of a high longitudinal speed.

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Vorheriges Kapitel Fail-Safe Remote Update Method for an FPGA-Based On-Board Computer System
Nächstes Kapitel Integral Sliding Mode Control of Power Transfer in a Vehicle to Grid (V2G) Charging Station
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Metadaten
Titel
Autonomous Vehicle Lateral Control for the Lane-change Maneuver
verfasst von
Lhoussain El Hajjami
El Mehdi Mellouli
Mohammed Berrada
Copyright-Jahr
2022
Verlag
Springer Singapore
Buch
WITS 2020

Print ISBN: 978-981-336-892-7

Electronic ISBN: 978-981-336-893-4

Copyright-Jahr: 2022

DOI
https://doi.org/10.1007/978-981-33-6893-4_28

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