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.
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El Hajjami, L., Mellouli, E.M., Berrada, M. (2022). Autonomous Vehicle Lateral Control for the Lane-change Maneuver. In: Bennani, S., Lakhrissi, Y., Khaissidi, G., Mansouri, A., Khamlichi, Y. (eds) WITS 2020. Lecture Notes in Electrical Engineering, vol 745. Springer, Singapore. https://doi.org/10.1007/978-981-33-6893-4_28
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DOI: https://doi.org/10.1007/978-981-33-6893-4_28
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