A predictive vector-field based lane-changing controller.

CDC

@inproceedings{DBLP:conf/cdc/HuangP19,
  author       = {Lixing Huang and
                  Dimitra Panagou},
  title        = {A predictive vector-field based lane-changing controller},
  booktitle    = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice,
                  France, December 11-13, 2019},
  pages        = {5748--5753},
  publisher    = {{IEEE}},
  year         = {2019},
  url          = {https://doi.org/10.1109/CDC40024.2019.9029640},
  doi          = {10.1109/CDC40024.2019.9029640},
  timestamp    = {Fri, 04 Mar 2022 13:30:46 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/HuangP19.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

Abstract

This paper presents a predictive vector-field based controller for the motion of an ego-vehicle through highway traffic. The design is composed of a vector field controller in closed form, whose control gains are optimized online. Upon certain assumptions on the traffic conditions, safe solutions can be derived. Simulation results illustrate the efficacy of the proposed algorithm compared to a standard NMPC approach.

Authors

Dimitra Panagou

link /

Bib

@inproceedings{DBLP:conf/cdc/HuangP19,
  author       = {Lixing Huang and
                  Dimitra Panagou},
  title        = {A predictive vector-field based lane-changing controller},
  booktitle    = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice,
                  France, December 11-13, 2019},
  pages        = {5748--5753},
  publisher    = {{IEEE}},
  year         = {2019},
  url          = {https://doi.org/10.1109/CDC40024.2019.9029640},
  doi          = {10.1109/CDC40024.2019.9029640},
  timestamp    = {Fri, 04 Mar 2022 13:30:46 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/HuangP19.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}