Integrated lateral and longitudinal vehicle control for an emergency lane change manoeuvre design

A lane change manoeuvre is one of the many appropriate responses to an emer gency situation. The design of an Emergency Lane Change (ELC) manoeuvre for a platoon of two vehicles is considered in this paper. In response to the presence of a stationary or a slowly moving obstacle in the lane or any suc h emergency, the lead vehicle in the platoon designs an ELC trajectory onli ne and broadcasts the trajectory curvature information in real time to its follower. The problem considered in this paper is the design of an integrat ed lateral and longitudinal controller that enables the follower to track t he lead vehicle's trajectory, while maintaining a desired following:distanc e. A sliding mode controller is developed for this purpose and its performa nce is demonstrated in simulations.