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

页码：1457 / 1465

页数：9

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