Variable structure control for platoon lane change in automated highway systems

Based on the coupled longitudinal and lateral dynamic model of vehicle, the integrated longitudinal and lateral control for platoon lane change in automated highway systems was studied. Assumed that for each following vehicle in the platoon, the information about speed and position of lead vehicle and preceding vehicle can be obtained by intraplatoon communication, data of the yaw rate can be measured with on-board sensors. According to the trapezoidal acceleration trajectory, the desired yaw angle and yaw rate for lane changing were calculated. By applying finite time sliding mode reaching law, the coupled variable structure tracking control laws for lane change and vehicle following were designed and the stability of the control system was analyzed by using Lyapunov function method. For each following vehicle in the platoon, the performance of the synthesized control for lane change and longitudinal following was highlighted by simulation tests with the proposed control laws.