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Unified Lateral Motion Control Of Vehicles For Lane Change Maneuvers In Automated Highway Systems

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  • Chee, Wonshik
  • Tomizuka, Masayoshi

Abstract

This report deals with the lateral guidance of vehicles, with focus on lane change maneuvers. Two approaches are presented for lane changes maneuvers. The first is to treat the maneuvers as a tracking control problem. A virtual desired trajectory (VDT) is used a tracking control approach. The second is to use a unified lateral guidance algorithm which consists of the desired yaw rate generator and the yaw rate tracking controller.

Suggested Citation

  • 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.
    • Handle: RePEc:cdl:itsrrp:qt4ws4d2j0
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    References listed on IDEAS

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    1. 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.
    2. 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.
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