Automated vehicle lane change systems and methods comprise determining a departing lane in which the vehicle is currently traveling and a merging lane in which the vehicle will be traveling after an automated lane change, determining a desired yaw rate of the vehicle based on a current speed of the vehicle, determining an end control point in each of a departing lane and a merging lane, determining a set of intermediate control points based on the end control points and the desired yaw rate, determining a basis spline (B-spline) defined by the end control points and the set of intermediate control points to obtain a desired path between the end control points, and commanding a steering system configured to control steering of the vehicle such that the vehicle follows the desired path.
Automated vehicle lane change control techniques
Patent
Electronic Resource
METHOD FOR AUTOMATED LANE CHANGE AND AUTOMATED LANE CHANGE CONTROL
European Patent Office | 2021
|AUTOMATED LANE CHANGE CONTROL METHOD AND AUTOMATED LANE CHANGE CONTROL DEVICE
European Patent Office | 2022
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