Lane change maneuver of automobiles for the intelligent vehicle and highway system (IVHS)

A lane change maneuver is a part of lateral control of an automated highway system. Assuming no direct measurement of its position during transition from one lane to another, a vehicle is controlled to follow the virtual desired trajectory using only on-board sensors. Linear quadratic (LQ), frequency shaped LQ, and sliding mode control algorithms have been designed. The simulation results show satisfactory tracking performances under extreme driving conditions.