This research advances autonomous vehicle capabilities by developing novel trajectory planning and control techniques for lane changes using free-driving and vehicle-following modes. This study addresses the critical challenge of enhancing lane change precision to minimize accident risks on highways. A quintic polynomial is used for trajectory generation, and a PID controller is employed for trajectory tracking, integrating collision prevention strategies for safety assurance. The contributions of this work include the development of an efficient control scheme that adapts to dynamic traffic conditions and improves the robustness of lane-changing maneuvers. The proposed approach significantly enhances the accuracy and reliability of autonomous lane changes, providing a pathway for safer autonomous driving in complex highway scenarios.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Trajectory Tracking Control for Lane Change Maneuvers in Autonomous Vehicles


    Beteiligte:


    Erscheinungsdatum :

    12.12.2024


    Format / Umfang :

    654656 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia / Brannstrom, Mattias / Coelingh, Erik et al. | IEEE | 2017


    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia | Online Contents | 2017


    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia | Online Contents | 2016


    Hybrid MPC and Spline-Based Controller for Lane Change Maneuvers in Autonomous Vehicles

    Abdeselam, Navil / Gutierrez-Moreno, Rodrigo / Lopez-Guillen, Elena et al. | IEEE | 2023


    Neural Network Based Lane Change Trajectory Prediction in Autonomous Vehicles

    Tomar, Ranjeet Singh / Verma, Shekhar | Tema Archiv | 2011