Model predictive control for lane change decision assist system using hybrid system representation

Masakazu Mukai, Taketoshi Kawabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This paper considers an optimal lane change path generation for intelligent automobiles using hybrid system representation. A longitudinal maneuver and a lateral maneuver of automobiles are modeled. To represent a behavior of lane changes hybrid system representations, that can combine continuous dynamics and discrete dynamics are employed. An objective function is designed to obtain a smooth lane change like a skilful drivers decision. Collision avoidance conditions are also considered. The optimal lane change path generation problem by using model predictive control is formulated as mixed integer programming. The problem is solved by using multi-parametric programming. Simulation results are shown to illustrate that this control problem generates an appropriate trajectory and input.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages5120-5125
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period10/18/0610/21/06

Fingerprint

Model predictive control
Hybrid systems
Automobiles
Integer programming
Collision avoidance
Trajectories

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Model predictive control for lane change decision assist system using hybrid system representation. / Mukai, Masakazu; Kawabe, Taketoshi.

2006 SICE-ICASE International Joint Conference. 2006. p. 5120-5125 4108683.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mukai, M & Kawabe, T 2006, Model predictive control for lane change decision assist system using hybrid system representation. in 2006 SICE-ICASE International Joint Conference., 4108683, pp. 5120-5125, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 10/18/06. https://doi.org/10.1109/SICE.2006.315230
Mukai, Masakazu ; Kawabe, Taketoshi. / Model predictive control for lane change decision assist system using hybrid system representation. 2006 SICE-ICASE International Joint Conference. 2006. pp. 5120-5125
@inproceedings{2be2331811524b0ba644e841cb496f9b,
title = "Model predictive control for lane change decision assist system using hybrid system representation",
abstract = "This paper considers an optimal lane change path generation for intelligent automobiles using hybrid system representation. A longitudinal maneuver and a lateral maneuver of automobiles are modeled. To represent a behavior of lane changes hybrid system representations, that can combine continuous dynamics and discrete dynamics are employed. An objective function is designed to obtain a smooth lane change like a skilful drivers decision. Collision avoidance conditions are also considered. The optimal lane change path generation problem by using model predictive control is formulated as mixed integer programming. The problem is solved by using multi-parametric programming. Simulation results are shown to illustrate that this control problem generates an appropriate trajectory and input.",
author = "Masakazu Mukai and Taketoshi Kawabe",
year = "2006",
month = "12",
day = "1",
doi = "10.1109/SICE.2006.315230",
language = "English",
isbn = "8995003855",
pages = "5120--5125",
booktitle = "2006 SICE-ICASE International Joint Conference",

}

TY - GEN

T1 - Model predictive control for lane change decision assist system using hybrid system representation

AU - Mukai, Masakazu

AU - Kawabe, Taketoshi

PY - 2006/12/1

Y1 - 2006/12/1

N2 - This paper considers an optimal lane change path generation for intelligent automobiles using hybrid system representation. A longitudinal maneuver and a lateral maneuver of automobiles are modeled. To represent a behavior of lane changes hybrid system representations, that can combine continuous dynamics and discrete dynamics are employed. An objective function is designed to obtain a smooth lane change like a skilful drivers decision. Collision avoidance conditions are also considered. The optimal lane change path generation problem by using model predictive control is formulated as mixed integer programming. The problem is solved by using multi-parametric programming. Simulation results are shown to illustrate that this control problem generates an appropriate trajectory and input.

AB - This paper considers an optimal lane change path generation for intelligent automobiles using hybrid system representation. A longitudinal maneuver and a lateral maneuver of automobiles are modeled. To represent a behavior of lane changes hybrid system representations, that can combine continuous dynamics and discrete dynamics are employed. An objective function is designed to obtain a smooth lane change like a skilful drivers decision. Collision avoidance conditions are also considered. The optimal lane change path generation problem by using model predictive control is formulated as mixed integer programming. The problem is solved by using multi-parametric programming. Simulation results are shown to illustrate that this control problem generates an appropriate trajectory and input.

UR - http://www.scopus.com/inward/record.url?scp=34250713928&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250713928&partnerID=8YFLogxK

U2 - 10.1109/SICE.2006.315230

DO - 10.1109/SICE.2006.315230

M3 - Conference contribution

AN - SCOPUS:34250713928

SN - 8995003855

SN - 9788995003855

SP - 5120

EP - 5125

BT - 2006 SICE-ICASE International Joint Conference

ER -