Robust Control of a Customized Lane Change Maneuver

A full acceptation of Autonomous Vehicles (AV) could be achieved by the customization of different driving services. One of these could consist of choosing the driving style and consequently its impact on the generated trajectory shapes, particularly in overtaking maneuvers. A previous work introduced a driving style adaptive path planning method able to reproduce different behaviors during overtaking maneuvers. This paper focuses on the integration of the aforementioned path planning algorithm in the control scheme of an autonomous vehicle. The generated adapted path is the reference of a robust feedback feed-forward robust controller. The overall path generation and control are validated in simulation as well as in real-world conditions. The obtained results show a good correlation between simulation and experimental results.