Static output feedback control for lane change maneuver

Saïd Mammar (1) , Hichem Arioui (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper addresses the lateral control of a vehicle during lane change maneuvers. The proposed design procedure aims to answer the questions of control using cost-effective sensors implementation, adaptation to measured variables and robustness to unmeasured varying parameters. This is achieved through a static output feedback controller with preview information. The only used measurements are the lateral displacement at sensor location and the yaw angle relative to the lane centerline. The vehicle lateral model is augmented with an integral action, the error signal and the preview reference signal. The controller is synthesized using the LMI framework thanks to a relaxation method that removes the nonlinear terms. Simulations are conducted for various scenarios showing the ability of the design method to handle different performance objectives.

Domaines: Automatique / Robotique

Saïd Mammar, Hichem Arioui. Static output feedback control for lane change maneuver. 15th IEEE International Conference on Networking, Sensing and Control (ICNSC 2018), Mar 2018, Zhuhai, China. ⟨10.1109/ICNSC.2018.8361306⟩. ⟨hal-01817932⟩