Planning and Nonlinear Adaptive Control for an Automated Overtaking Maneuver

Plamen Petrov 1 Fawzi Nashashibi 2, 3
1 Faculty of Mechanical Engineering
2 CAOR - Centre de Robotique
3 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée
Inria Paris-Rocquencourt
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.
Keywords : automation control overtaking vehicle ITS Lyapunov planning non-linear maneuver transportation HAVEit CityMobil
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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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