Autonomous Lane Change Control using PID and a Bicycle Model 2019-01-1043
This paper focuses on lane change maneuvers for autonomous vehicles driving at low speeds. The lane change controller uses a PID controller to control the steering wheel angle, based on the yaw movement and lateral displacement of the vehicle. The controller was developed and tested on a bicycle model of a vehicle (a Chevrolet Bolt 2017 EV), with the implementation done in MATLAB/Simulink.
This simple model was chosen in order to limit computational demands, while still producing a smooth lane change maneuver under the direction of the car’s Mission Planning module. The simulation indicated that the system performed well for low speeds and a moderate steering wheel angle. After simulation, the model was converted to implementable vehicle code using the MATLAB ROS toolbox, and integrated into a vehicle for on-road testing for purposes of obstacle avoidance. After validating the controller, the paper suggests that such a model can be used for smooth lane change performance for autonomous driving technology.
Ajinkya A. Joshi, Diane Peters, Jennifer M. Bastiaan