Autonomous Vehicle Lateral Control for the Lane-change Maneuver

Abstract

During the fourth industrial revolution, the automotive industry is seeking to develop a completely autonomous ground vehicle capable of adapting to all situations encountered; including the lane change maneuver during normal driving on the highway. This paper describes, at first, the planning of the lane change maneuver using a quintic mathematic function, as a second step; a law of control based on higher-order sliding mode is applied. The adopted strategy achieves good results in terms of sideslip angle and tracking error, especially with the consideration of a high longitudinal speed.