Minimum Time Control Problem of Tractor Lateral Motion (Part 1)

Formulation and Field Experiment for Minimum Time Control of Tractor Lane Change Maneuver

Abstract

The objective of this paper is to clarify that the lane change strategy for a tractor includes the principle of minimum time control. To demonstrate this concept, a state equation is presented using nonlinear vehicle equations of motion. A performance index is constructed tranforming the lane change motion from a free end-point problem to a fixed end-point problem. The converted optimal control problem is defined as the minimum time control of tractor lane change maneuver. Lane change field tests were carried out. Simulation test results are in good agreement with field test results. This study thus clarified that human operator uses minimum time control principle in a lane change maneuver.