CPL - Chalmers Publication Library
| Utbildning | Forskning | Styrkeområden | Om Chalmers | In English In English Ej inloggad.

Strategic decision making for automated driving on two-lane, one way roads using model predictive control

Julia Nilsson (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
2013 IEEE Intelligent Vehicles Symposium p. 1253-1258. (2013)
[Konferensbidrag, refereegranskat]

This paper presents an algorithm for strategic decision making regarding when lane change and overtake manoeuvres are desirable and feasible. By considering the task of driving on two-lane, one-way roads, as the selection of desired lane and velocity profile, the algorithm provides useful results in terms of velocity control as well as a decision variable corresponding to whether a lane change manoeuvre should be performed. The decision process is modelled through a mixed logical dynamical system which is solved through model predictive control using mixed integer program formulation. The performance of the proposed control system is explored through simulations of varying driving scenaria on a two-lane, one-way road, which shows the capability of the system to achieve appropriate longitudinal and lateral control strategies depending on the traffic situation.



Den här publikationen ingår i följande styrkeområden:

Läs mer om Chalmers styrkeområden  

Denna post skapades 2013-10-14. Senast ändrad 2014-02-06.
CPL Pubid: 185194

 

Läs direkt!

Lokal fulltext (fritt tillgänglig)

Länk till annan sajt (kan kräva inloggning)


Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Transport
Farkostteknik

Chalmers infrastruktur