TRAJECTORY PLANNING AND INTEGRATED CONTROL WITH THE NONLINEAR BICYCLE MODEL FOR HIGH-SPEED AUTONOMOUS LANE CHANGE

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SAZGAR HADI; AZADI SHAHRAM; KAZEMI REZA

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Journal: Modares Mechanical Engineering Year:2018 | Volume:18 | Issue:2 Page(s): 103-114

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Title

TRAJECTORY PLANNING AND INTEGRATED CONTROL WITH THE NONLINEAR BICYCLE MODEL FOR HIGH-SPEED AUTONOMOUS LANE CHANGE

Author(s)

SAZGAR HADI | AZADI SHAHRAM | KAZEMI REZA | Issue Writer Certificate

Keywords

ADVANCED DRIVER ASSISTANT SYSTEMQ1

HIGH SPEED DRIVINGQ1

TRAJECTORY PLANNINGQ1

INTEGRATED LONGITUDINAL & LATERAL CONTROLQ1

NONLINEAR BICYCLE MODELQ1

Abstract

The purpose of this research is to develop an advanced driver assistance system (ADAS) for the integrated longitudinal and lateral guidance of vehicles in high speed lane change maneuver. At the first step, the ADAS by considering the target vehicle position, the speed limit of the road and the available range of longitudinal acceleration produced several trajectories with different acceleration. Then, by considering vehicle and tire dynamics, the optimal trajectory is selected. Therefore, the chosen trajectory is collision free and feasible. Because the TRAJECTORY PLANNING is carried out algebraically, its computational cost is low. This feature is very valuable in the experimental implementation. In the next step, using a combined longitudinal-lateral controller, the control inputs are calculated and transmitted to the brake/gas and steering actuators. The integrated controller design is based on sliding mode technique. TRAJECTORY PLANNING and controller design is based on a nonlinear tire model. Simulation results are presented and the results show the effectiveness of the integrated longitudinal and lateral guidance system.

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APA: Copy

SAZGAR, HADI, AZADI, SHAHRAM, & KAZEMI, REZA. (2018). TRAJECTORY PLANNING AND INTEGRATED CONTROL WITH THE NONLINEAR BICYCLE MODEL FOR HIGH-SPEED AUTONOMOUS LANE CHANGE. MODARES MECHANICAL ENGINEERING, 18(2 ), 103-114. SID. https://sid.ir/paper/178665/en

Vancouver: Copy

SAZGAR HADI, AZADI SHAHRAM, KAZEMI REZA. TRAJECTORY PLANNING AND INTEGRATED CONTROL WITH THE NONLINEAR BICYCLE MODEL FOR HIGH-SPEED AUTONOMOUS LANE CHANGE. MODARES MECHANICAL ENGINEERING[Internet]. 2018;18(2 ):103-114. Available from: https://sid.ir/paper/178665/en

IEEE: Copy

HADI SAZGAR, SHAHRAM AZADI, and REZA KAZEMI, “TRAJECTORY PLANNING AND INTEGRATED CONTROL WITH THE NONLINEAR BICYCLE MODEL FOR HIGH-SPEED AUTONOMOUS LANE CHANGE,” MODARES MECHANICAL ENGINEERING, vol. 18, no. 2 , pp. 103–114, 2018, [Online]. Available: https://sid.ir/paper/178665/en

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