In this paper, we present a nonlinear adaptive controller for a two-vehicle automated overtaking maneuver. We consider the problem of a three-phase overtaking without the use of information obtained from road infrastructure. The only information available for feedback control is the current relative inter-vehicle position and orientation. Reference trajectories for every phase are generated in real time. An update control law for the automated overtaking vehicle is designed that allows tracking desired trajectories in the presence of unknown velocity of the overtaken vehicle. Simulation results are included to illustrate the performance of the proposed controller.
Planning and nonlinear adaptive control for an automated overtaking maneuver
01.10.2011
1913345 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
IMPROVED OVERTAKING MANEUVER FOR OVERTAKING A PRECEDING THIRD PARTY VEHICLE
Europäisches Patentamt | 2025
|IMPROVED OVERTAKING MANEUVER FOR OVERTAKING A PRECEDING THIRD PARTY VEHICLE
Europäisches Patentamt | 2023
|Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver
Online Contents | 2008
|Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver
BASE | 2008
|