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

Wonshik Chee and Masayoshi Tomizuka

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

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.

Keywords: Automobiles--Automatic control--Mathematical models; Express highways--Automation--Mathematical models; Automobile driving--Steering--Automation--Mathematical models (search for similar items in EconPapers)
Date: 1997-01-01
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