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2020 | OriginalPaper | Chapter

Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm

Authors : Victor Fors, Yangyan Gao, Björn Olofsson, Timothy Gordon, Lars Nielsen

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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Abstract

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.

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Footnotes
1
Here, the particular case of a lane change towards the right where the friction limits are reached is considered. The method can similarly be derived for the other cases.
 
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Metadata
Title
Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm
Authors
Victor Fors
Yangyan Gao
Björn Olofsson
Timothy Gordon
Lars Nielsen
Copyright Year
2020
Book
Advances in Dynamics of Vehicles on Roads and Tracks

Print ISBN: 978-3-030-38076-2

Electronic ISBN: 978-3-030-38077-9

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-38077-9_167

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