scholarly journals Manoeuvring speed estimation of a lane-change system using geometric hermite interpolation

2021 ◽  
Author(s):  
N.A. Othman ◽  
U. Reif ◽  
A. Ramli ◽  
M.Y. Misro
Keyword(s):  
Hermite Interpolation ◽  
Speed Estimation ◽  
Lane Change ◽  
Geometric Hermite Interpolation ◽  
Change System

scholarly journals Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 4315-4334
Author(s):  
Jinsoo Kim ◽  
Jahng-Hyon Park ◽  
Kyung-Young Jhang
Keyword(s):  
Vehicle Control ◽  
Lane Change ◽  
Change System

Geometric Hermite interpolation by spatial Pythagorean-hodograph cubics

2005 ◽  
Vol 22 (4) ◽  
pp. 325-352 ◽  
Author(s):  
Francesca Pelosi ◽  
Rida T. Farouki ◽  
Carla Manni ◽  
Alessandra Sestini
Keyword(s):  
Hermite Interpolation ◽  
Pythagorean Hodograph ◽  
Geometric Hermite Interpolation

scholarly journals High accuracy geometric Hermite interpolation

1987 ◽  
Vol 4 (4) ◽  
pp. 269-278 ◽  
Author(s):  
Carl de Boor ◽  
Klaus Höllig ◽  
Malcolm Sabin
Keyword(s):  
Hermite Interpolation ◽  
High Accuracy ◽  
Geometric Hermite Interpolation

Geometric Hermite interpolation

1995 ◽  
Vol 12 (6) ◽  
pp. 567-580 ◽  
Author(s):  
K. Höllig ◽  
J. Koch
Keyword(s):  
Hermite Interpolation ◽  
Geometric Hermite Interpolation

Longitudinal and lateral dynamics control of automatic lane change system

2019 ◽  
Vol 41 (15) ◽  
pp. 4322-4338
Author(s):  
Junyang Wang ◽  
Hongyu Zheng ◽  
Changfu Zong
Keyword(s):  
Change Scenario ◽  
Lateral Part ◽  
Lane Change ◽  
Driver Assistance Systems ◽  
Parametric Function ◽  
Lateral Dynamics ◽  
Planning Algorithm ◽  
Decision Module ◽  
Automated Highway ◽  
Change System

The urgency of extending functionalities of current advanced driver assistance systems (ADAS), and eventually progressing to highly automated highway driving necessitates the design of automatic lane change system. This paper presents an automatic lane change system targeting on discretional lane change scenario in highway driving. Assuming motion signals of all participants to be available, the MOBIL model is employed as the decision module. The functionality of the adaptive cruise controller is extended to realize dual-target tracking, so as to prevent abrupt acceleration change provoked by the sudden switch of the leading vehicle during the lane change. For the lateral part, a hierarchical trajectory planning algorithm, which combines parametric function and learning-based technique, is proposed to account for uncertainties of driver characteristics in different traffic situations. The trajectory is then tracked by a low-level controller based on model predictive control (MPC) theory, which employs a force input model to predict the motion of the vehicle, and formulates environment envelope and handling limits as constraints. The proposed algorithm is validated through simulations of typical scenarios. Overall, this paper lays a solid foundation for the prototype of ADAS regarding lane change.

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