International Journal of Automotive Engineering
Online ISSN : 2185-0992
Print ISSN : 2185-0984
ISSN-L : 2185-0992
Research Paper
Model Predictive Steering Control with Flexible Lane Crossing Considering Nearby Vehicles
Ryuichi MakiIsao OkawaKenichiro Nonaka
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JOURNALS OPEN ACCESS

2020 Volume 11 Issue 3 Pages 136-142

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Abstract

Various lane-keeping assist systems have been studied. To avoid collisions, automated lane crossing is sometimes required. In this paper, we propose model predictive steering control with flexible lane crossing for obstacle avoidance. In the proposed method, collision avoidance is guaranteed by hard constraints, and inappropriate lane boundary crossing is suppressed by soft constraints. Experiments show that the proposed controller generates the optimal trajectory for autonomously crossing a lane boundary while suppressing lane deviation and preventing collisions.

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© 2020 Society of Automotive Engineers of Japan, Inc
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