Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking

Abstract : In this paper, we present a nonlinear adaptive controller for a two-vehicle automated overtaking maneuver. We consider the problem of an autonomous three-phase overtaking without the use of any roadway marking scheme or inter-vehicle communication. The developed feedback controller requires information for the current relative inter-vehicle position and orientation available from onboard sensors only. We apply standard robotic nomenclature for translational and rotational displacements and velocities and propose a general kinematic model of the vehicles during the overtaking maneuver including for the relative inter-vehicle kinematics. The overtaking maneuver is investigated as a tracking problem with respect to desired polynomial virtual trajectories for every phase, which are generated in real time. An update control law for the automated overtaking vehicle is designed that allows tracking the desired trajectories in the presence of unknown velocity of the overtaken vehicle. Simulation results illustrate the performance of the proposed controller.
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Plamen Petrov, Fawzi Nashashibi. Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking. IEEE Transactions Intelligent Transportation Systems, 2014, 15 (4), pp.14. ⟨10.1109/TITS.2014.2303995⟩. ⟨hal-01107533⟩

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