Simulated Highway Lane Change Data with Uncertain Vehicle Parameters

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 & 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.Additionally to the data, the Matlab code to repeat the analysis on your own is provided.For more details, refer to:

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," 2024 European Control Conference (ECC), Stockholm, Sweden, 2024, pp. 3847-3853, doi: 10.23919/ECC64448.2024.10590871.

The research leading to these data has received funding from the Mobility of the Future programme (Grant No. 884344).Mobility of the Future is a research, technology and innovation funding programme of the Republic of Austria, Ministry of Climate Action.The Austrian Research Promotion Agency (FFG) has been authorised for the programme management.