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.


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    Title :

    Planning and nonlinear adaptive control for an automated overtaking maneuver


    Contributors:
    Petrov, P. (author) / Nashashibi, F. (author)


    Publication date :

    2011-10-01


    Size :

    1913345 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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