In this paper, we present a two-layer nonlinear adaptive steering controller for autonomous lane change maneuver with respect to a stopped vehicle. First, we derive a dynamic model of the vehicle using the Boltzmann-Hamel method in quasi-coordinates for nonholonomic systems. The lane change maneuver is investigated as a tracking problem with respect to desired cycloidal trajectory, which is generated in real time. An adaptive update control law is designed that allows tracking the desired trajectories in the presence of unknown inertial parameters of the vehicle. Simulation results illustrate the performance of the proposed controller.
Adaptive steering control for autonomous lane change maneuver
2013-06-01
340980 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
ADAPTIVE STEERING CONTROL FOR AUTONOMOUS LANE CHANGE MANEUVER
British Library Conference Proceedings | 2013
|Lane-Change Maneuver Via Modern Steering Control Methods
British Library Conference Proceedings | 1995
|Autonomous Vehicle Lateral Control for the Lane-change Maneuver
Springer Verlag | 2021
|Open and Closed Loop Steering in a Lane Change Maneuver
NTIS | 1983
|