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

Masakazu Mukai, Taketoshi Kawabe

研究成果: 著書/レポートタイプへの貢献会議での発言

11 引用 (Scopus)

抜粋

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.

元の言語英語
ホスト出版物のタイトル2006 SICE-ICASE International Joint Conference
ページ5120-5125
ページ数6
DOI
出版物ステータス出版済み - 12 1 2006
イベント2006 SICE-ICASE International Joint Conference - Busan, 大韓民国
継続期間: 10 18 200610 21 2006

その他

その他2006 SICE-ICASE International Joint Conference
大韓民国
Busan
期間10/18/0610/21/06

    フィンガープリント

All Science Journal Classification (ASJC) codes

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

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