A Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstances

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ISBN: 978-1-5386-4453-9
ISBN: 978-1-5386-4452-2
ISBN: 9781538644522
DOI: 10.1109/IVS.2018.8500542
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2018-10-18
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IEEE
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Abstract
Overtaking 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.
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Publisher Copyright: © 2018 IEEE.
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Acceleration , Computer architecture , Safety , Task analysis , Trajectory , Mathematical model , Planning , Acceleration , Computer architecture , Safety , Task analysis , Trajectory , Mathematical model , Planning , Computer Science Applications , Automotive Engineering , Modeling and Simulation , Project ID , info:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UnCoVerCPS , info:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UnCoVerCPS , Funding Info , European Commision H2020, (643921), UnCoVerCPS , European Commision H2020, (643921), UnCoVerCPS
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conference output
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Lattarulo , R , He , D , Perez , J & Heß , D 2018 , A Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstances . in unknown . 2018-June , IEEE , pp. 1340-1345 , 2018 IEEE Intelligent Vehicles Symposium, IV 2018 , Changshu, Suzhou , China , 26/09/18 . https://doi.org/10.1109/IVS.2018.8500542
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