Lateral Control System for Autonomous Lane Change System on Highways 2016-01-1641
In this paper, we propose a vision based lateral control scheme for autonomous lane change system on highways. Three main techniques are proposed, to improve the lane keeping/lane change performance, and to reduce the ripple in the yaw rate on highways. First, we propose a model based lane prediction method to cope with the momentary failure of lane detection. Second, we innovate an approach to steering wheel angle control based on torque overlay for the EPS of the lateral control. Finally, the multi-rate lane-keeping control scheme is proposed to improve the lateral control performance and to reduce the ripple in the yaw rate. The performance of the proposed method was experimentally evaluated via test vehicle
Citation: Kang, C., Sung Gu, Y., Jeon, S., Son, Y. et al., "Lateral Control System for Autonomous Lane Change System on Highways," SAE Int. J. Passeng. Cars - Mech. Syst. 9(2):877-884, 2016, https://doi.org/10.4271/2016-01-1641. Download Citation
Author(s):
Chang Mook Kang, Yi Sung Gu, Soo Jung Jeon, Young Seop Son, Wonhee Kim, Seung-Hi Lee, Chung Choo Chung
Also in:
SAE International Journal of Passenger Cars - Mechanical Systems-V125-6EJ, SAE International Journal of Passenger Cars - Mechanical Systems-V125-6
Related Topics:
Control systems
Yaw
Roads and highways
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