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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Notes
- 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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Fors, V., Gao, Y., Olofsson, B., Gordon, T., Nielsen, L. (2020). Real-Time Minimum-Time Lane Change Using the Modified Hamiltonian Algorithm. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_167
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DOI: https://doi.org/10.1007/978-3-030-38077-9_167
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