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 language | English |
|---|---|
| Title of host publication | 2006 SICE-ICASE International Joint Conference |
| Pages | 5120-5125 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Dec 1 2006 |
| Event | 2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of Duration: Oct 18 2006 → Oct 21 2006 |
Other
| Other | 2006 SICE-ICASE International Joint Conference |
|---|---|
| Country | Korea, Republic of |
| City | Busan |
| Period | 10/18/06 → 10/21/06 |
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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 proceeding › Conference contribution
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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 -