Sensitivity investigations of the automated lane-change manoeuvre – selected issues

Abstract

This article presents fragments of authors’ research works regarding the automation of the process of lane-change manoeuvre by a car. The mathematical model of the conceptual automatic control system was elaborated on the basis of the simplified ‘bicycle model’ of a car’s lateral dynamics. From a theoretical point of view, the controller’s algorithm seems to be very efficient but of course it requires testing with a car in many operating conditions. Such investigations could be carried out using a very detailed model of the vehicle’s motion treated as a virtual object of control. The purpose of extensive simulation investigations was to check the controller’s operation and evaluate its sensitivity to changes in the vehicle and road parameters. This article presents unpublished results of studies on the sensitivity of errors in measured signals. In simulation-based sensitivity investigations, special sensitivity indexes support this analysis. The analysis provides more reliable conclusions about the performance of the controller and shows the required accuracy of the measured signals. The article presents information on the models, the method used and the sample research results. The presented method of automatic control and its testing method can be an attractive proposition for designers and researchers of active steering systems that enhance the active safety of vehicles.

Modeling and Simulation of the Automated Lane Change Process, Taking Into Account Freeplay and Friction in the Vehicle Steering System

“…Details of this control system, including its theoretical background, the derivation of algorithms for generating reference signals as well as algorithms for the operation of both regulators, are described in previous authors' publications, e.g. [15,16,17,18].…”

“…In several previous papers, e.g. [15,16,17,18], the authors presented design and research works on a steering system controller that automates the process of changing lane by a car. Note, that the lane change automation is a fundamental problem of autonomous cars and is a key to automate more complex maneuvers (avoiding, overtaking etc.).…”

The Validity of Sensors and Model in the Lane Change Control Process

“…The development of vehicles in this respect is linked to the increasing automation of the individual processes they perform. In the case of the topic addressed by the authors, this is automatic navigation [ 2 , 3 ] and automatic obstacle avoidance [ 4 , 5 ]. The lane change manoeuvre is encountered in situations of avoiding, overtaking, and when an unexpected obstacle suddenly appears on the road.…”

Quasi-static research of cornering stiffness for selected tires of UTV/ATV vehicles

“…The tire is one of the most important elements of the vehicle. Its construction and the materials used affect, among others, traction and controllability of the vehicle, especially in critical conditions of its motion [1,2]). It is also an important, next to the suspension [3], an elastic-damping element that codecides on the driving comfort and car movement of the car in various road conditions [4].…”