Abstract
Vehicle evasive maneuvers or sudden lane changes pose stringent conditions on trajectory control, which require not only a desired path following but also a complete consideration of lateral forces and vehicle dynamic stability. Experienced drivers steer the vehicle on a desired path, as much as possible, without creating large lateral forces beyond the stability limits. Steering control systems have been developed to perform similar lane change or evasive maneuvers automatically but with limitations. A control method is developed to find desired trajectory automatically based on the defined design criteria using constrained optimization via collocation technique. The results are compared with two known suitable trajectories. The results show that the proposed control method produces peak lateral acceleration that are lower than the 5th order polynomial trajectory, and overall lateral accelerations that are lower than a comparable trapezoidal acceleration profile.
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