Abstract
This paper presents lane changing and merging support system with adaptive cruise control (ACC). In lane changing and merging, drivers consider about safety and longitudinal ride comfort. In addition, drivers must finish merging in the acceleration lane. In order to achieve these objectives, we propose the merging decision and control method. The merging decision calculates several plans to merge in the acceleration lane, and selects the plan with smallest acceleration. 2 degree of freedom (2DOF) control is applied to the longitudinal and lateral control. In 2DOF control, the response is defined by the filter. The filter of the longitudinal control defines the reference distance for safe spacing to the surrounding vehicle, and the filter of the lateral control defines the reference path for changing lanes. The longitudinal and lateral control follows these references by the feedback controller and the feedforward controller. The performance of the proposed system is tested by simulations. In these simulations, the merging decision calculates the plan to finish merging in the acceleration lane with the smallest acceleration, and the longitudinal and lateral controller follows references accurately by the feedforward controller. These results show that the proposed system contributes the safe and comfortable lane changing and merging.
