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2020 | OriginalPaper | Chapter

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

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

Publisher: Springer International Publishing

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

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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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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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Title

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

Book

Advances in Dynamics of Vehicles on Roads and Tracks

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

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

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

DOI

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

Authors:

Victor Fors
Yangyan Gao
Björn Olofsson
Timothy Gordon
Lars Nielsen

Publisher