Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm
(2020) 26th Symposium of the International Association of Vehicle System Dynamics (IAVSD2019) In Lecture Notes in Mechanical Engineering p.1457-1465- Abstract
- A minimum-time lane change maneuver is executed under friction-limited conditions using (1) the Modified Hamiltonian Algorithm (MHA) suitable for real-time control and (2) numerical optimization for comparison. A key variable is the switching time of the acceleration reference in MHA. Considering that MHA is based on an approximate vehicle model to target real-time control, it cannot exactly match the ideal reference as obtained from offline optimization; this paper shows that incorporation of a limited-jerk condition successfully predicts the switching time and that the desired lane position is reached in near minimum time.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/e0e331f5-4ce3-4380-8f56-186b60d6743c
- author
- Fors, Victor ; Gao, Yangyan ; Olofsson, Björn LU ; Gordon, Timothy and Nielsen, Lars
- publishing date
- 2020
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019.
- series title
- Lecture Notes in Mechanical Engineering
- pages
- 1457 - 1465
- publisher
- Springer
- conference name
- 26th Symposium of the International Association of Vehicle System Dynamics (IAVSD2019)
- conference location
- Göteborg, Sweden
- conference dates
- 2019-08-12 - 2019-08-16
- external identifiers
-
- scopus:85081554714
- ISBN
- 978-3-030-38076-2
- 978-3-030-38077-9
- DOI
- 10.1007/978-3-030-38077-9_167
- project
- RobotLab LTH
- ELLIIT B14: Autonomous Force-Aware Swift Motion Control
- language
- English
- LU publication?
- no
- id
- e0e331f5-4ce3-4380-8f56-186b60d6743c
- date added to LUP
- 2022-07-04 16:07:26
- date last changed
- 2024-08-20 11:42:37
@inproceedings{e0e331f5-4ce3-4380-8f56-186b60d6743c, abstract = {{A minimum-time lane change maneuver is executed under friction-limited conditions using (1) the Modified Hamiltonian Algorithm (MHA) suitable for real-time control and (2) numerical optimization for comparison. A key variable is the switching time of the acceleration reference in MHA. Considering that MHA is based on an approximate vehicle model to target real-time control, it cannot exactly match the ideal reference as obtained from offline optimization; this paper shows that incorporation of a limited-jerk condition successfully predicts the switching time and that the desired lane position is reached in near minimum time.}}, author = {{Fors, Victor and Gao, Yangyan and Olofsson, Björn and Gordon, Timothy and Nielsen, Lars}}, booktitle = {{Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019.}}, isbn = {{978-3-030-38076-2}}, language = {{eng}}, pages = {{1457--1465}}, publisher = {{Springer}}, series = {{Lecture Notes in Mechanical Engineering}}, title = {{Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm}}, url = {{http://dx.doi.org/10.1007/978-3-030-38077-9_167}}, doi = {{10.1007/978-3-030-38077-9_167}}, year = {{2020}}, }