This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for reference tracking. Moreover, a constraint for maintaining a safety distance with the vehicles in the target lane is included. Simulation results show the effectiveness of the MPC in scenarios with different initial conditions that demonstrate the correct implementation of the safety distance constraint.
Acosta Gil, A., Márquez Ruíz, A., & Espinosa Oviedo, J. (2017). Nonlinear Model Predictive Control of a Passenger Vehicle for Automated Lane Changes. Revista de Ingeniería Electrónica, Automática y Comunicaciones (RIELAC), 38(1), 48–56.