Lane change maneuver via H∞ steering control methods

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 (1989). 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