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Predictive cruise control with autonomous overtaking

Nikolce Murgovski (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
54th IEEE Conference on Decision and Control (CDC), Osaka Japan, 15-18 Dec 2015 p. 644-649. (2015)
[Konferensbidrag, refereegranskat]

This paper studies the problem of optimally controlling an autonomous vehicle, to safely overtake a slow-moving leading vehicle. The problem is formulated to minimize deviation from a reference velocity and position trajectory, while keeping the vehicle on the road and avoiding collision with surrounding vehicles. We show that the optimization problem can be formulated as a convex program, by providing convex modeling steps that include change of reference frame, change of variables, sampling in relative longitudinal distance, convex relaxation and linearization. A case study is provided showing overtaking scenarios in proximity of an oncoming vehicle, and a vehicle driving on an adjacent lane and in the same direction as the leading vehicle.



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Denna post skapades 2016-01-18. Senast ändrad 2016-12-14.
CPL Pubid: 230890

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Transport
Optimeringslära, systemteori
Reglerteknik

Chalmers infrastruktur