Lateral Control System for Autonomous Lane Change System on Highways

Kang, Chang Mook; Gu, Yu; Jeon, Soo; Son, Young Seop; Kim, Wonhee; Lee, Seung Hi; Chung, Choo Chung

doi:10.4271/2016-01-1641

Cited by 15 publications

(5 citation statements)

References 21 publications

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“…The lane keeping and change control in the ALCS were performed by using our previous works. Readers who are interested in the lateral motion control laws are referred to Son et al and Kang et al [23,24].…”

Section: Experiments and Resultsmentioning

confidence: 99%

Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles

Yang

Choi

Chung

2020

Asian Journal of Control

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In this paper, we propose a lane change decision scheme using only commercial, automotive radar sensors with “DRiving Environment Assessment and decision Making (DREAM) index.” First, the index associated with a risk situation is assessed by the concept of a dynamic occupancy grid zone. The predefined distance of the local area was set to conform to the international standard of a steering function. Also, the risk assessment was predictively conducted using modeling of the relative motion with a target vehicle. Second, the index associated with a cooperative driving concept of the surrounding vehicles is proposed. To estimate the relative acceleration which is not directly measured by radar, we designed a discrete‐time state estimator. We executed scenario‐based experiments with test vehicles in a high‐speed circuit to validate the decision scheme. Through the experiments, we observed that the DREAM index could make effective decisions, and the lane change maneuverings were performed successfully in real‐world tests.

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Section: Experiments and Resultsmentioning

confidence: 99%

Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles

Yang

Choi

Chung

2020

Asian Journal of Control

Self Cite

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“…In the mathematical theory of bifurcations, the Hopf bifurcation is a critical point where a system's stability switches and a periodic solution arises. More accurately, it is a local bifurcation in which a fixed point of a dynamical system loses stability, as a pair of complex conjugate eigenvalues (of the linearisation around the fixed point) cross the complex plane imaginary axis [53,54].…”

Section: Bifurcation Of Steady Steeringmentioning

confidence: 99%

“…Lee et al [52] and Park et al [53] designed and verified a control algorithm for advanced lane-change assist systems with integrated control by adopting differential braking and the electric power-steering system. Kang et al [54] and Wang et al [55] proposed a new idea for improving the lane-keeping/lane-changing performance for an autonomous lane-change system for highways, by applying a prediction method and multi-rate lane-keeping control scheme.…”

Section: Introductionmentioning

confidence: 99%

Bifurcation of lane change on highway for large bus

Peng

Guan

Zhang

et al. 2017

IET Intelligent Transport Systems

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“…For uneven sensor time delays, a feasible method is to increase the update rate of lane information using multi-sensor information fusion and multi-rate Kalman filtering (KF), thus reducing the influence of time delays on the vehicle lateral control [ 23 , 24 , 25 , 26 , 27 , 28 , 29 ]. Wang proposed a series of methods for vision-based lateral state estimation of autonomous vehicles considering multi-rate and uneven measurement delay issues, and his proposed algorithm could reduce the root-mean-square error (RMSE) of the vehicle states, such as yaw rate and velocity [ 23 , 24 , 25 ].…”

Section: Introductionmentioning

confidence: 99%

“…Wang proposed a series of methods for vision-based lateral state estimation of autonomous vehicles considering multi-rate and uneven measurement delay issues, and his proposed algorithm could reduce the root-mean-square error (RMSE) of the vehicle states, such as yaw rate and velocity [ 23 , 24 , 25 ]. Chung’s team has done valuable work in vehicle state estimation and control method of the scenarios with vision-induced delays [ 27 , 28 , 29 , 30 ]. Robust multi-rate lane keeping control scheme is proposed, and multi-rate KF has been developed to estimate vehicle states at a fast rate, in order to resolve the problems caused by slow lane detection [ 27 ].…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors

Liu

et al. 2018

Sensors

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Vision-based sensors are widely used in lateral control of autonomous vehicles, but the large computational cost of the visual algorithms often induces uneven time delays. In this paper, a hierarchical vision-based lateral control scheme is proposed, where the upper controller is designed by robust H∞-based linear quadratic regulator (LQR) algorithm to compensate sensor-induced delays, and the lower controller is based on logic threshold method, in order to achieve strong convergence of the steering angle. Firstly, the vehicle lateral model is built, and the nonlinear uncertainties induced by time delays are linearized with Taylor expansion. Secondly, the state space of the system is augmented to describe such uncertainties with polytopic inclusions, which is controlled by an H∞-based LQR controller with a low cost of online computation. Then, a lower controller is designed for the control of the steering motor. According to the results of the vehicle experiment as well as the hardware-in-the-loop (HIL) experiment, the proposed control scheme shows good performance in vehicle’s lateral control task, and exhibits better robustness compared with a conventional LQR controller. The proposed control scheme provides a feasible solution for the lateral control of autonomous driving.

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Lateral Control System for Autonomous Lane Change System on Highways

Cited by 15 publications

References 21 publications

Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles

Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles

Bifurcation of lane change on highway for large bus

Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors

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