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Brain Limbic System Based Robust Control for Lane Change Maneuver

[+] Author Affiliations
Changwon Kim, Reza Langari

Texas A&M University, College Station, TX

Paper No. DSCC2010-4029, pp. 805-812; 8 pages
doi:10.1115/DSCC2010-4029
From:
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME

abstract

This paper presents the application of a novel intelligent control strategy for lane change maneuvers in highway environment. The lateral dynamics of a vehicle with and without wind disturbance are derived and utilized to implement a neuromophic controller based on the brain limbic system. To show the robustness of the proposed controller, several disturbance conditions including wind, uncertainty in the cornering stiffness, and changes in the vehicle mass, are investigated. To demonstrate the performance of the suggested strategy, the simulation results of the proposed method were compared with the human driver model based control scheme, which has been discussed in the literature. The simulation results demonstrate the superiority of the proposed controller in energy efficiency, driving comfort, and robustness.

Copyright © 2010 by ASME
Topics: Robust control , Brain

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