In this paper, we present a mathematical model and adaptive controller for an autonomous vehicle overtaking maneuver. We consider the problem of an autonomous three-phase overtaking without the use of any roadway marking scheme or intervehicle communication. The developed feedback controller requires information for the current relative intervehicle position and orientation, which are assumed to be available from onboard sensors. We apply standard robotic nomenclature for translational and rotational displacements and velocities and propose a general kinematic model of the vehicles and the relative intervehicle kinematics during the overtaking maneuver. The overtaking maneuver is investigated as a tracking problem with respect to desired polynomial virtual trajectories for every phase, which are generated in real time. An update control law for the automated overtaking vehicle is designed that allows tracking the desired trajectories in the presence of unknown velocity of the overtaken vehicle. Simulation results illustrate the performance of the proposed controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking


    Beteiligte:


    Erscheinungsdatum :

    01.08.2014


    Format / Umfang :

    1362256 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Model Predictive Control for Full Autonomous Vehicle Overtaking

    Lamouik, Imad / Yahyaouy, Ali / Sabri, My Abdelouahed | Transportation Research Record | 2023


    VEHICLE OVERTAKING CONTROL METHOD AND VEHICLE OVERTAKING CONTROL DEVICE SUPPORTING SAME

    CHOI SEONG GON / AN HYE YOUNG / CHOI WON SEOK | Europäisches Patentamt | 2023

    Freier Zugriff

    Robust overtaking control of autonomous electric vehicle with parameter uncertainties

    Xu, Liwei / Zhuang, Weichao / Yin, Guodong et al. | SAGE Publications | 2019


    Autonomous overtaking method and system

    LYU CHAO / LU HONGLIANG / YU YANG et al. | Europäisches Patentamt | 2021

    Freier Zugriff