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.
Document type :
Conference papers
Liste complète des métadonnées

Cited literature [10 references]  Display  Hide  Download

https://hal.inria.fr/hal-00663044
Contributor : Fawzi Nashashibi <>
Submitted on : Thursday, January 26, 2012 - 12:12:03 PM
Last modification on : Monday, November 12, 2018 - 10:56:32 AM
Document(s) archivé(s) le : Friday, April 27, 2012 - 2:25:59 AM

File

ArticleFawzi_ITSC_2011_Paper_3...
Files produced by the author(s)

Identifiers

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, The George Washington University, Oct 2011, Washington D.C., United States. pp.662-667, ⟨10.1109/ITSC.2011.6083025⟩. ⟨hal-00663044⟩

Share

Metrics

Record views

502

Files downloads

254