Presentation	2002/8/28 Switching Control for Lane Change Based on Yaw Rate Hiroshi YAMASHITA, Hajimu MASUDA, Toshimitsu USHIO,
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Abstract(in English)	This paper proposes a switching control law for lane change control of automatic vehicles. Many methods for lane keeping control have been proposed and they are applied to lane change control. They have good performances for tracking a specified trajectory for the lane change while a yaw rate may be large. We design two controllers using the LQI control method: one is for lane keeping and the other for suppresion of the yaw rate. We propose a method for detemining the initial states of the controllers in order to improve transient behaviors when the controllers are switched.
Keyword(in Japanese)	(See Japanese page)
Keyword(in English)	lane change control / yaw rate / switching control
Paper #	NLP2002-49
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Conference Information
Committee	NLP
Conference Date	2002/8/28(1days)
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Paper Information
Registration To	Nonlinear Problems (NLP)
Language	JPN
Title (in Japanese)	(See Japanese page)
Sub Title (in Japanese)	(See Japanese page)
Title (in English)	Switching Control for Lane Change Based on Yaw Rate
Sub Title (in English)
Keyword(1)	lane change control
Keyword(2)	yaw rate
Keyword(3)	switching control
1st Author's Name	Hiroshi YAMASHITA
1st Author's Affiliation	Graduate School of Engineering Science, Osaka University()
2nd Author's Name	Hajimu MASUDA
2nd Author's Affiliation	Daihatsu Motor Co., LTD.
3rd Author's Name	Toshimitsu USHIO
3rd Author's Affiliation	Graduate School of Engineering Science, Osaka University
Date	2002/8/28
Paper #	NLP2002-49
Volume (vol)	vol.102
Number (no)	298
Page	pp.pp.-
#Pages	6
Date of Issue