Reset control with sector confinement for a lane change maneuver

Abstract

The new features that are being added today in cars for assisted or autonomous driving tasks require a specific study that allows these tasks to be performed efficiently. Among these tasks, in this work the application of advanced control methods for the lane change maneuver is studied, obtaining better results than the classic methods which are inherently limited to fundamental limitations of the linear systems. An application of the reset method based on the linear confinement of trajectories is presented, which allows to reduce the error to zero quickly. This method is compared by simulation with another reset control method, the reset control with optimal reset. And then, the method is validate in CarSim.