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Abstract



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


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.

Victor Fors, Yangyan Gao, Björn Olofsson, Timothy Gordon and Lars Nielsen

2019

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Last updated: 2021-11-10