Predictive cruise control with autonomous overtaking
Paper in proceeding, 2015

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.

Author

Nikolce Murgovski

Chalmers, Signals and Systems, Systems and control

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

Vol. 54rd IEEE Conference on Decision and Control,CDC 2015 644-649 7402302
978-1-4799-7886-1 (ISBN)

Areas of Advance

Transport

Subject Categories

Computational Mathematics

Control Engineering

DOI

10.1109/CDC.2015.7402302

ISBN

978-1-4799-7886-1

More information

Latest update

7/12/2024