Sensitivity investigations of the automated lane-change manoeuvre – selected issues

Abstract

This article presents fragments of authors’ research works regarding the automation of the process of lane-change manoeuvre by a car. The mathematical model of the conceptual automatic control system was elaborated on the basis of the simplified ‘bicycle model’ of a car’s lateral dynamics. From a theoretical point of view, the controller’s algorithm seems to be very efficient but of course it requires testing with a car in many operating conditions. Such investigations could be carried out using a very detailed model of the vehicle’s motion treated as a virtual object of control. The purpose of extensive simulation investigations was to check the controller’s operation and evaluate its sensitivity to changes in the vehicle and road parameters. This article presents unpublished results of studies on the sensitivity of errors in measured signals. In simulation-based sensitivity investigations, special sensitivity indexes support this analysis. The analysis provides more reliable conclusions about the performance of the controller and shows the required accuracy of the measured signals. The article presents information on the models, the method used and the sample research results. The presented method of automatic control and its testing method can be an attractive proposition for designers and researchers of active steering systems that enhance the active safety of vehicles.