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.


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    Title :

    Adaptive steering control for autonomous lane change maneuver


    Contributors:


    Publication date :

    2013-06-01


    Size :

    340980 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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