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Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm

Fors, Victor ; Gao, Yangyan ; Olofsson, Björn LU ; Gordon, Timothy and Nielsen, Lars (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:
author
; ; ; and
publishing date
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
978-3-030-38077-9
978-3-030-38076-2
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
2024-04-16 00:19:43
@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         = {{978-3-030-38077-9}},
  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}},
}