Lane change maneuver via H steering control methods

Richard T. O'Brien, Pablo A. Iglesias, Thomas J. Urban

Research output: Contribution to conferencePaperpeer-review


This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a controller is designed which allows the vehicle to change lanes automatically while ensuring passenger comfort and safety. The controller is designed using an H based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular the controller's robustness due to varying speeds is examined, as well as the vehicle's performance in an icy patch.

Original languageEnglish (US)
Number of pages6
StatePublished - Dec 1 1995
EventProceedings of the 1995 IEEE Conference on Control Applications - Albany, NY, USA
Duration: Sep 28 1995Sep 29 1995


OtherProceedings of the 1995 IEEE Conference on Control Applications
CityAlbany, NY, USA

ASJC Scopus subject areas

  • Control and Systems Engineering

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