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Planning and Nonlinear Adaptive Control for an Automated Overtaking Maneuver

Abstract : 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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Contributor : Fawzi Nashashibi Connect in order to contact the contributor
Submitted on : Thursday, January 26, 2012 - 12:12:03 PM
Last modification on : Tuesday, October 25, 2022 - 4:23:24 PM
Long-term archiving on: : Friday, April 27, 2012 - 2:25:59 AM


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Plamen Petrov, Fawzi Nashashibi. Planning and Nonlinear Adaptive Control for an Automated Overtaking Maneuver. ITSC 2011 - 14th International IEEE Conference on Intelligent Transportation Systems, The George Washington University, Oct 2011, Washington D.C., United States. pp.662-667, ⟨10.1109/ITSC.2011.6083025⟩. ⟨hal-00663044⟩



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