Title :
On optimal design of a lane change controller
Author :
Hatipoglu, Cem ; Ozguner, Umit ; Unyelioglu, Konur A.
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
This paper is concerned with automated lane change maneuvers. We first consider the time optimal open loop lane change controller design with nonlinear constraints on the design parameters. Then, we combine the open loop design with a modified closed loop lane following controller so that the closed loop system accomplishes the maneuver as in the open loop case. The performance of the overall controller is demonstrated by simulation examples
Keywords :
closed loop systems; control system synthesis; feedforward; position control; road vehicles; time optimal control; closed loop system; lane change controller; lane following controller; nonlinear constraints; open loop control; optimal design; steering control; time optimal control; Acceleration; Automatic control; Closed loop systems; Control systems; Equations; Gravity; Open loop systems; Optimal control; Signal generators; Vehicles;
Conference_Titel :
Intelligent Vehicles '95 Symposium., Proceedings of the
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-2983-X
DOI :
10.1109/IVS.1995.528321
