Bumpless Transfer for Convenient Lateral Car Control Handover*

Besides longitudinal control, advanced driver assistance functions additionally require lateral control. Up to now, many different control approaches have been proposed and documented in literature dealing with lateral control. In contrast to this, there are only very few publications describing the handling of comfortable handover from manual to assisted driving controlling lateral car dynamics.The presented work aims to enhance handover at the activation of lateral control by significantly reducing lateral acceleration and jerk, resulting in smooth and comfortable control handover.First a state of the art model-based control is outlined. Based on this application, a flatness-based approach for bumpless transfer from manual to controlled mode is proposed. Both, model-based control and bumpless transfer extension, allow straightforward tuning and execution on standard automotive hardware, due to their low computational effort. Results are discussed on simulation results.