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.
Type de document :
Communication dans un congrès
ITSC 2011 - 14th International IEEE Conference on Intelligent Transportation Systems, Oct 2011, Washington D.C., United States. IEEE, pp.662-667, 2011, 〈10.1109/ITSC.2011.6083025〉
Liste complète des métadonnées

Littérature citée [10 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00663044
Contributeur : Fawzi Nashashibi <>
Soumis le : jeudi 26 janvier 2012 - 12:12:03
Dernière modification le : lundi 12 novembre 2018 - 10:56:32
Document(s) archivé(s) le : vendredi 27 avril 2012 - 02:25:59

Fichier

ArticleFawzi_ITSC_2011_Paper_3...
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

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

Partager

Métriques

Consultations de la notice

481

Téléchargements de fichiers

232