Seo, J. and Yi, K., "Robust Mode Predictive Control for Lane Change of Automated Driving Vehicles," SAE Technical Paper 2015-01-0317, 2015, doi:10.4271/2015-01-0317.
This paper describes a robust Model Predictive Control (MPC) framework of lane change for automated driving vehicles. In order to develop a safe lane change for automated driving, the driving mode and lane change direction are determined considering environmental information, sensor uncertainties, and collision risks. The safety margin is calculated using predicted trajectories of surround and subject vehicles. The MPC based combined steering and longitudinal acceleration control law has been designed with extended bicycle model over a finite time horizon. A reachable set of vehicle state is calculated on-line to guarantee that MPC state and input constraints are satisfied in the presence of disturbances and uncertainties. The performance of the proposed algorithm has been conducted simulation studies.