Hybrid Controller Design for a Safe Lane Change Maneuver in Automated Highway Systems

차량 자동주행 시스템의 안전한 차선변경을 위한 하이브리드 제어기 설계

In this paper, we design a hybrid controller for a safe lane change maneuver in automated highway systems(AHS). The proposed hybrid controller consists of a supervisor which controls the behaviors of discrete-event dynamic systems, and a regulator which controls the operations of continuous-variable dynamic systems. The supervisor determines whether the system starts a maneuver or not, via a condition for a safety, and gives orders to the regulator for performing the maneuvers. And the regulator tracks the planned path generated in the supervisor. The conditions for a safe lane change maneuver are proposed using the velocity, the acceleration, and geometrical relationship of vehicles.