This paper focuses on the design of a model based methodology to optimize lane change maneuvers based on the predictions of neighboring agents. In particular, the dynamics of vehicles are modeled as double integrators, and the lane change actions are indicated by boolean variables while neglecting the lane change dynamics. The objective of the optimal control is to minimize the travel time, maintain saftey distances between the target vehicle and neighboring ones, satisfy the operational constraints of the target vehicle, and comply with the speed limit. The control problem is formulated as a mixed logic dynamic system, and solved by Cplex, a commercial mixed integer optimization solver. Finally, the effectiveness of the proposed methodology is demonstrated by two simulated scenarios in this paper.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous lane-change controller via mixed logical dynamical


    Beteiligte:
    Du, Yaoqiong (Autor:in) / Wang, Yizhou (Autor:in) / Chan, Ching-Yao (Autor:in)


    Erscheinungsdatum :

    01.10.2014


    Format / Umfang :

    923118 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Autonomous lane-change controller

    Du, Yaoqiong / Wang, Yizhou / Chan, Ching-Yao | IEEE | 2015


    LANE CHANGE SYSTEM AND LANE CHANGE CONTROLLER

    ZHANG YU | Europäisches Patentamt | 2018

    Freier Zugriff

    Lane change system and lane change controller

    ZHANG YU | Europäisches Patentamt | 2019

    Freier Zugriff

    Autonomous Lane Change Control Using Proportional-Integral-Derivative Controller and Bicycle Model

    Joshi, Ajinkya A. / Peters, Diane L. / Bastiaan, Jennifer M. | British Library Conference Proceedings | 2020


    Autonomous Lane Change Control Using Proportional-Integral-Derivative Controller and Bicycle Model

    Joshi, Ajinkya A. / Peters, Diane L. / Bastiaan, Jennifer M. | SAE Technical Papers | 2020