A Minimum Entropy Based Switching Approach for Automated Driving Assistance

Abstract: This paper suggests a switching control approach for the application of automated driving assistance. Since in multi-lane and multi-vehicle scenarios the traffic situation may change frequently, the use of switched systems theory seems suitable to deal with this problem. A two level control approach is suggested to deal with lane changing and longitudinal vehicle control. In the first step the target lane is chosen according to a robust switched equilibrium and the second step deals with stabilizing this equilibrium by switching between different longitudinal vehicle control strategies. Simulation results show the feasibility and effectiveness of the approach by means of an exemplary test scenario.