Modares Mechanical Engineering

Modares Mechanical Engineering

Trajectory planning and integrated control with the Nonlinear Bicycle Model for high-speed autonomous lane change

Authors
Hadi Sazgar 1
Shahram Azadi 2
Reza Kazemi 1
1 Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
2 Assistant Professor and Faculty member in Department of Mechanical Engineering / KN. Toosi University of Technology
Abstract
The purpose of this research is to develop an advanced driver assistance system (ADAS) for the integrated longitudinal and lateral guidance of vehicles in high speed lane change maneuver. At the first step, the ADAS by considering the target vehicle position, the speed limit of the road and the available range of longitudinal acceleration produced several trajectories with different acceleration. Then, by considering vehicle and tire dynamics, the optimal trajectory is selected. Therefore, the chosen trajectory is collision free and feasible. Because the trajectory planning is carried out algebraically, its computational cost is low. This feature is very valuable in the experimental implementation. In the next step, using a combined longitudinal-lateral controller, the control inputs are calculated and transmitted to the brake/gas and steering actuators. The integrated controller design is based on sliding mode technique. Trajectory planning and controller design is based on a nonlinear tire model. Simulation results are presented and the results show the effectiveness of the integrated longitudinal and lateral guidance system.
Keywords
Advanced Driver Assistant System
High Speed Drives
Trajectory Planning
Integrated Longitudinal & Lateral Control
Nonlinear Bicycle Model
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Modares Mechanical Engineering
Volume 18, Issue 2
April 2018
Pages 103-114