Design of an Adaptive Cruise Control / Collision Avoidance with lane change support for vehicle autonomous driving

This paper presents an Adaptive Cruise Control (ACC) and Collision Avoidance (CA) system for vehicle autonomous driving. The control scheme is designed to improve drivers' comfort during multi-vehicle driving situations and to completely avoid rear-end collision using severe braking and lane change maneuver. In order to create such an application, the proposed system consists of a longitudinal control strategy for multi-vehicle ACC with severe braking, a lateral control strategy for lane change, and a decision unit for integration of two strategies. The longitudinal control strategy was used to achieve comfort behavior of subject vehicle in normal-driving situations and to achieve safe behavior in sever-braking situations. The lateral control strategy is used to generate a trajectory for lane change and follow the generated trajectory in order to avoid collision. Finally, the decision unit is used to recognize the current driving situation and select a behavior of the subject vehicle. The performance and safety benefits of the proposed control system are investigated via simulations using various driving scenarios. The simulation results show that the proposed control system performs longitudinal and lateral control strategy depending on the driving situations.