Automated vehicle lane change systems and methods comprise determining a departing lane in which the vehicle is currently traveling and a merging lane in which the vehicle will be traveling after an automated lane change, determining a desired yaw rate of the vehicle based on a current speed of the vehicle, determining an end control point in each of a departing lane and a merging lane, determining a set of intermediate control points based on the end control points and the desired yaw rate, determining a basis spline (B-spline) defined by the end control points and the set of intermediate control points to obtain a desired path between the end control points, and commanding a steering system configured to control steering of the vehicle such that the vehicle follows the desired path.
Automated vehicle lane change control techniques
2022-02-01
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
AUTOMATED LANE CHANGE CONTROL METHOD AND AUTOMATED LANE CHANGE CONTROL DEVICE
European Patent Office | 2022
|AUTOMATED LANE CHANGE CONTROL METHOD AND AUTOMATED LANE CHANGE CONTROL DEVICE
European Patent Office | 2021
|