IDEAS home Printed from https://ideas.repec.org/p/cdl/itsrrp/qt29j5s3gk.html
   My bibliography  Save this paper

Vehicle Lane Change Maneuver In Automated Highway Systems

Author

Listed:
  • Chee, Wonshik
  • Tomizuka, Masayoshi

Abstract

In this report, lane change maneuver for an automated highway system is investigated as a tracking problem with respect to the virtual desired trajectory (VDT). The two main issues discussed in the report are: 1) design of virtual desired trajectory and 2) design of control algorithms. Four types of desired trajectories are considered. The use of onboard sensors for closed loop control are used. Three closed loop controllers, based on 1) linear quadratic (LC) optimal control, 2) frequency shaped linear quadratic (FSLQ), and 3) sliding mode control are evaluated. Simulation results show that these controllers provide acceptable performance in the presence of uncertainties and disturbances.

Suggested Citation

  • Chee, Wonshik & Tomizuka, Masayoshi, 1994. "Vehicle Lane Change Maneuver In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt29j5s3gk, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt29j5s3gk
    as

    Download full text from publisher

    File URL: https://www.escholarship.org/uc/item/29j5s3gk.pdf;origin=repeccitec
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Peng, Huei & Tomizuka, Masayoshi, 1991. "Optimal Preview Control For Vehicle Lateral Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3jj2q67v, Institute of Transportation Studies, UC Berkeley.
    2. Hessburg, Thomas & Peng, Hei & Zhang, Wei-bin & Arai, Alan & Tomizuka, Masayoshi, 1994. "Experimental Results Of Fuzzy Logic Control For Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1jv1q3md, Institute of Transportation Studies, UC Berkeley.
    3. Hessburg, Thomas & Peng, Huei & Tomizuka, Masayoshi & Zhang, Wei-bin, 1991. "An Experimental Study On Lateral Control Of A Vehicle," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3rr9371v, Institute of Transportation Studies, UC Berkeley.
    4. Peng, Huei & Tomizuka, Masayoshi, 1990. "Lateral Control Of Front-wheel-steering Rubber-tire Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4t17m5nn, Institute of Transportation Studies, UC Berkeley.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. He, Jia & He, Zhengbing & Fan, Bo & Chen, Yanyan, 2020. "Optimal location of lane-changing warning point in a two-lane road considering different traffic flows," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 540(C).
    2. Hessburg, Thomas & Tomizuka, Masayoshi, 1995. "Fuzzy Logic Control For Lane Change Maneuvers In Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4zs9k1vx, Institute of Transportation Studies, UC Berkeley.
    3. Chen, A. L. & Savas, Omer & Hedrick, Karl, 1997. "Transient Vehicle Aerodynamics In Four-car Platoons," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5048k2gw, Institute of Transportation Studies, UC Berkeley.
    4. Talbot, Craig Matthew & Papadimitriou, Iakovos & Tomizuka, Masayoshi, 2004. "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7xd2r0cc, Institute of Transportation Studies, UC Berkeley.
    5. Chee, Wonshik & Tomizuka, Masayoshi, 1997. "Unified Lateral Motion Control Of Vehicles For Lane Change Maneuvers In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4ws4d2j0, Institute of Transportation Studies, UC Berkeley.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Shiller, Zvi & Sundar, Satish, 1996. "Optimal Emergency Maneuvers Of Automated Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4xc0k0fs, Institute of Transportation Studies, UC Berkeley.
    2. Hessburg, Thomas & Tomizuka, Masayoshi, 1994. "Advances in Fuzzy Logic Control for Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9648g94m, Institute of Transportation Studies, UC Berkeley.
    3. Peng, Huei & Tomizuka, Masayoshi, 1991. "Optimal Preview Control For Vehicle Lateral Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3jj2q67v, Institute of Transportation Studies, UC Berkeley.
    4. Broucke, M. & Varaiya, P., 1995. "A Theory Of Traffic Flow In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4h41g68m, Institute of Transportation Studies, UC Berkeley.
    5. Tongue, Benson H. & Yang, Yean-tzong, 1994. "Platoon Collison Dynamics And Emergency Maneuvering III: Platoon Collison Models And Simulations," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4kr4r8vm, Institute of Transportation Studies, UC Berkeley.
    6. Chee, Wonshik & Tomizuka, Masayoshi, 1997. "Unified Lateral Motion Control Of Vehicles For Lane Change Maneuvers In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4ws4d2j0, Institute of Transportation Studies, UC Berkeley.
    7. Hessburg, Thomas & Tomizuka, Masayoshi, 1995. "Fuzzy Logic Control For Lane Change Maneuvers In Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4zs9k1vx, Institute of Transportation Studies, UC Berkeley.
    8. Chira-Chavala, Ted & Yoo, S. M., 1992. "Feasibility Study Of Advanced Technology Hov Systems: Volume 1: Phased Implementation Of Longitudinal Control Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2wh2v2vc, Institute of Transportation Studies, UC Berkeley.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:cdl:itsrrp:qt29j5s3gk. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Lisa Schiff (email available below). General contact details of provider: https://edirc.repec.org/data/itucbus.html .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.