Lane Change Maneuvers for Automated Highway Systems: Control, Estimation Algorithms and Preliminary Experimental Study

This paper presents the study of two important issues of lane change maneuvers for automated highway systems: (1) tracking control under the ride comfort constraint, and (2) position estimation using sensors mounted on the vehicle (on-board sensors). These issues have been studied by both simulations and experiments. The sliding mode controller using filtered error has been proposed as the tracking control algorithm and the reduced order Kalman filter is designed as the state estimator. Experimental results show a good correspondence to the simulation results, demonstrating effectiveness of the control algorithm and the estimation scheme.