The lane change movement on a highway is a demanding and critical maneuver as it involves the surveillance of vehicles both in the original and targeted lane as well as the control of both longitudinal and lateral movement. However, intelligent vehicles make it possible to develop precise control approaches to safely achieve lane changes. A Model Predictive Control (MPC) system for safe lane changes with a path-tracking capability is proposed in this paper. First, a safe lane change trajectory is planned with consideration of collision avoidance and comfort using a polynomial path planning method. Then, a nonlinear vehicle lateral movement model is constructed and validated using the fully nonlinear vehicle dynamics simulation software CarSim. After the established vehicle model is successively linearized, the linearization result is employed as the prediction model of the MPC controller. Based on this, the safe lane change MPC controller is designed. Simulation results illustrate the potential of the controller when following the safe lane change trajectory.


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    Title :

    Model Predictive Control for Intelligent Vehicle Lane Change


    Contributors:

    Conference:

    Second International Conference on Transportation Information and Safety ; 2013 ; Wuhan, China


    Published in:

    ICTIS 2013 ; 265-276


    Publication date :

    2013-06-11




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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