抄録
The automatic lane change is attracted research topics. If the automatic lane change is applied to four wheel steering vehicle, good driving assist can be realized. However, vehicle dynamical model must be needed for the vehicle motion control and estimation. It is extremely difficult to identify vehicle parameter. Therefore, model free approach of the vehicle motion control and estimation is desired. In this paper, we proposed a new automatic lane change method. The proposed method can realize lane change by using complementary filter and gain scheduled controller. The validity of the proposed method is verified via vehicle simulators.
