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dc.contributor.authorLattarulo, Ray
dc.contributor.authorHe, Daniel
dc.contributor.authorPerez, Joshue
dc.date.accessioned2018-10-30T13:01:57Z
dc.date.available2018-10-30T13:01:57Z
dc.date.issued2018
dc.identifier.citationLattarulo, Ray, Daniel He, and Joshue Perez. “A Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstances.” 2018 IEEE Intelligent Vehicles Symposium (IV) (June 2018). doi:10.1109/ivs.2018.8500542.en
dc.identifier.isbn978-1-5386-4453-9en
dc.identifier.issn1931-0587en
dc.identifier.urihttp://hdl.handle.net/11556/637
dc.description.abstractOvertaking is one of the most difficult tasks during driving. This manoeuvre demands good skills to accomplish it correctly. In the overtaking considering multiple vehicles (more than a couple) is necessary to understand, predict and coordinate future actions of the other participants. These reasons make it a significant scenario for testing in the connected and automated driving field, with the main goal of predicting safe future states. In this sense, this work presents an overtaking method based on a linear Model Predictive Control (MPC) approach, which considers multiple participants involved in the scenario. This method adapts dynamically the trajectory for the manoeuvre in case of unexpected situations. Some of these changes consider other vehicles coming on the opposite lane or variations on participants' driving decisions. Additionally, the system considers passengers' comfort, the vehicle physical constraints and lateral actions of the vehicle decoupled of the longitudinal ones to simplify the problem.en
dc.description.sponsorshipEuropean Commision H2020, (643921), UnCoVerCPSen
dc.language.isoengen
dc.publisherIEEEen
dc.titleA Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstancesen
dc.typeconferenceObjecten
dc.identifier.doi10.1109/IVS.2018.8500542en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UnCoVerCPSen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsAccelerationen
dc.subject.keywordsComputer architectureen
dc.subject.keywordsSafetyen
dc.subject.keywordsTask analysisen
dc.subject.keywordsTrajectoryen
dc.subject.keywordsMathematical modelen
dc.subject.keywordsPlanningen
dc.page.final1345en
dc.page.initial1340en
dc.identifier.esbn978-1-5386-4452-2en
dc.conference.title2018 IEEE Intelligent Vehicles Symposium (IV)en


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