Extended Feedback Control based on Impulse Response for Lane Change of Autonomous Driving Vehicle

Sangyoon Kim; Kyongsu Yi

doi:10.22680/kasa2023.15.3.017

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2023 Vol.15, Issue 3 Preview Page Next Page

Extended Feedback Control based on Impulse Response for Lane Change of Autonomous Driving Vehicle 자율 주행 차량의 차선 변경을 위한 충격 응답 기반 상태 확장 되먹임 제어

30 September 2023. pp. 17-26

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Abstract

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

Keywords

Feedback Control

Impulse Response

Lane Change

키워드

되먹임 제어

충격 응답

차선 변경

References

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Mehmood, A., Liaquat, M., Bhatti, A. I., and Rasool, E., 2019, "Trajectory Planning and Control for Lane-Change of Autonomous Vehicle", 2019 5th International Conference on Control, Automation and Robotics (ICCAR), pp. 331~335. 10.1109/ICCAR.2019.8813737

Yang, D., Zheng, S., Wen, C., Jin, P. J., and Ran, B., 2018, "A dynamic lane-changing trajectory planning model for automated vehicles", Transportation Research Part C: Emerging Technologies, Vol. 95, pp. 228~247. 10.1016/j.trc.2018.06.007

Wang, L., Zhao, X., Su, H., and Tang, G., 2016, "Lane changing trajectory planning and tracking control for intelligent vehicle on curved road", SpringerPlus, Vol. 5, No. 1, pp. 1~18. 10.1186/s40064-016-2806-027504248PMC4956640

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 15
No :3
Pages :17-26
Received Date : 2021-11-29
Revised Date : 2023-09-05
Accepted Date : 2023-09-05
DOI :https://doi.org/10.22680/kasa2023.15.3.017

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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