Adaptive steering control for autonomous lane change maneuver

Author

Petrov, Plamen ; Nashashibi, Fawzi

Author_Institution

Fac. of Mech. Eng., Tech. Univ. of Sofia, Sofia, Bulgaria

fYear

2013

fDate

23-26 June 2013

Firstpage

835

Lastpage

840

Abstract

In this paper, we present a two-layer nonlinear adaptive steering controller for autonomous lane change maneuver with respect to a stopped vehicle. First, we derive a dynamic model of the vehicle using the Boltzmann-Hamel method in quasi-coordinates for nonholonomic systems. The lane change maneuver is investigated as a tracking problem with respect to desired cycloidal trajectory, which is generated in real time. An adaptive update control law is designed that allows tracking the desired trajectories in the presence of unknown inertial parameters of the vehicle. Simulation results illustrate the performance of the proposed controller.

Keywords

adaptive control; control system synthesis; mobile robots; nonlinear control systems; road vehicles; steering systems; trajectory control; Boltzmann-Hamel method; adaptive update control law design; autonomous lane change maneuver; cycloidal trajectory; inertial vehicle parameter; nonholonomic systems; tracking problem; two-layer nonlinear adaptive steering controller; vehicle dynamic model; Equations; Mathematical model; Trajectory; Vectors; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2013 IEEE

Conference_Location

Gold Coast, QLD

ISSN

1931-0587

Print_ISBN

978-1-4673-2754-1

Type

conf

DOI

10.1109/IVS.2013.6629570

Filename

6629570