Predictive Sliding Mode Control for Lane Changing under Overtaking Maneuver

A lane change assist control system autonomously steers an ego vehicle to an adjacent lane when there is another vehicle moving slower in front of it. It may cause disruptions and oscillations and consequently influence the capacity of the road by leaving voids and reducing flow. This paper discusses the combined design of lane-changing controller using a nonlinear model predictive control (MPC) and sliding mode controller (SMC) in order to reach better performance and efficiency demanded for the overtaking maneuver. The sliding mode controller is designed using non-switching reaching law approach. The simulation results proved that the designed controller is much robust for the overtaking maneuver. To prove the efficacy of the designed control algorithm the results are compared with model predictive controller under different scenarios.