Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm

被引：0
|
作者：
Fors, Victor [1 ]
Gao, Yangyan [2 ]
Olofsson, Bjorn [1 ]
Gordon, Timothy [2 ]
Nielsen, Lars [1 ]
机构：
[1] Linkoping Univ, S-58183 Linkoping, Sweden
[2] Univ Lincoln, Lincoln LN6 7TS, England
来源：
ADVANCES IN DYNAMICS OF VEHICLES ON ROADS AND TRACKS, IAVSD 2019 | 2020年
关键词：
Control allocation; Friction-limited control; Active safety; Vehicle dynamics; Time-optimal control; Stability control;
D O I：
10.1007/978-3-030-38077-9_167
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A minimum-time lane change maneuver is executed under friction-limited conditions using (1) the Modified Hamiltonian Algorithm (MHA) suitable for real-time control and (2) numerical optimization for comparison. A key variable is the switching time of the acceleration reference in MHA. Considering that MHA is based on an approximate vehicle model to target real-time control, it cannot exactly match the ideal reference as obtained from offline optimization; this paper shows that incorporation of a limited-jerk condition successfully predicts the switching time and that the desired lane position is reached in near minimum time.
引用
收藏
页码：1457 / 1465
页数：9
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