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Título

Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver

Autor Naranjo, José E.; González, Carlos ; García Rosa, Ricardo ; Pedro, Teresa de
Palabras clave fuzzy control
hybrid control
intelligent control
proportional-integral differential (PID)
road vehicle control
Fecha de publicación 2008
EditorInstitute of Electrical and Electronics Engineers
Citación http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979
ResumenAbstract—The automation of the overtaking maneuver is considered to be one of the toughest challenges in the development of autonomous vehicles. This operation involves two vehicles (the overtaking and the overtaken) cooperatively driving, as well as the surveillance of any other vehicles that are involved in the maneuver. This operation consists of two lane changes—one from the right to the left lane of the road, and the other is to return to the right lane after passing. Lane-change maneuvers have been used to move into or out of a circulation lane or platoon; however, overtaking operations have not received much coverage in the literature. In this paper, we present an overtaking system for autonomous vehicles equipped with path-tracking and lane-change capabilities. The system uses fuzzy controllers that mimic human behavior and reactions during overtaking maneuvers. The system is based on the information that is supplied by a high-precision Global Positioning System and a wireless network environment. It is able to drive an automated vehicle and overtake a second vehicle that is driving in the same lane of the road.
Versión del editorhttp://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979
URI http://hdl.handle.net/10261/7343
DOI10.1109/TITS.2008.922880
ISSN1524-9050
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