Automatic Lane Change System with Double Loop PID Algorithm

For automatic lane change of the advanced driver assistance system, it is necessary to compensate the sensor limitations and also to provide a stable and accurate steering controller. In this paper, a look-ahead model that uses the future position data of the vehicle to supplement the limitations of the sensor mounted in the vehicle is used. In addition, to make smooth the lateral control of the vehicle body, a double loop PID is used to control the heading angle rate. Simulink-based program is used for the automatic lane change by manually operating the turn indicator in the vehicle. The program was simulated with IPG's CarMaker and ran in a real-world environment with MicroAutoBox II on Rav4 of Toyota. Experimental results showed that both the real vehicle test and the simulation completed the lane change stably with an error within 50 cm, despite the influence of the disturbance in the real environment.