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.