Selected issues of control of the process of sudden obstacle avoidance by a car

Research works regarding the automation of the process of sudden obstacle avoidance by a car are reported. The basis of theoretical considerations and simulation studies are mathematical models of the controller and vehicle in the lane change process. The model of the controller is based on the reference model - the “bicycle” model of vehicle lateral dynamics but significantly simplified, and thus very effective for synthesis of control algorithms and then for their usage in on-line calculations. The object model is complex and very detail, that allows realistic description of the truck's motion even in difficult road conditions. Example results of simulations presented in this paper concern sensitivity of lane change process on simplification of the reference model used for calculation reference signals of steering wheel angle and car trajectory.