Simulated Highway Lane Change Data with Uncertain Vehicle Parameters

<p>This data set consists of closed-loop simulations for highway lane changes by means of time series data. Thereby, the lane changes are planned with three different planners (state variable filter, fifth order polynomial, optimization-based), and executed with four different controllers (flatness-based feedforward with PD feedback control, input/output linearization, higher order sliding mode controller, inversion &amp; invariance based control). The vehicle dynamics model is a non-linear bicycle model. The lane change scenarios vary in lane change duration, vehicle velocity, vehicle parameters, and odometry errors.<br>Additionally to the data, the Matlab code to repeat the analysis on your own is provided.<br>For more details, refer to:</p> <p>M. Gurtner, J. Weber, P. Zips and A. Kugi, "The Role of Trajectory Planners in Lane Change Tracking Control: A Monte Carlo Evaluation of Four Controllers under Uncertainty," <em>2024 European Control Conference (ECC)</em>, Stockholm, Sweden, 2024, pp. 3847-3853, doi: 10.23919/ECC64448.2024.10590871.</p> <p>&nbsp;</p> <p>The research leading to these data has received funding from the Mobility of the Future programme (Grant No. 884344).<br>Mobility of the Future is a research, technology and innovation funding programme of the Republic of Austria, Ministry of Climate Action.<br>The Austrian Research Promotion Agency (FFG) has been authorised for the programme management.</p>