Guidance Based Lane-Changing Control in High-Speed Vehicle for the Overtaking Maneuver

Vehicle lane-changing and overtaking are fundamental technology in autonomous driving. This paper proposes an approach that combines guidance navigation and image based visual detection for road following and overtaking maneuver. Two critical issues are considered: Firstly, it is suggested to design a robust constrained road following based line of sight guidance in the presence of unknown time-varying sideslip angle and under unknown dynamic model. Secondly, to trigger the autonomous overtaking manoeuvre. An overtaking procedure is defined as a high-priority task while the road following as a low-priority task. The objective is then to properly switching between the two guidance modes according to the camera vision reading. The adopted control strategy consists of a constrained along and cross-track control law and a nonlinear RISE control law. The closed-loop dynamics of both kinematic errors and the dynamical errors are analyzed in detail using nonlinear interconnected systems theory and the overall system is shown to be input to state stable (ISS). The proposed approach for road following and overtaking are validated in simulations.