Computationally efficient autonomous overtaking on highways
Journal article, 2020

This paper studies the problem of optimal overtaking of a slow-moving leading vehicle in the presence of oncoming and/or adjacent vehicles with varying but known longitudinal speeds. A computationally efficient modeling approach is introduced, in which the overtaking problem is formulated by sampling in relative distance to the leading vehicle, replacing velocity state with its inverse and utilizing a nonlinear change of control variables. These three steps achieve a computationally efficient nonlinear control problem that can be solved using the sequential quadratic programming. Measures have been taken to ensure the feasibility of the nonlinear problem, even when the sequential quadratic programming iterates are stopped prematurely. A case study is presented, where this new formulation is compared with the previously published formulations in terms of solution quality and computation time.

optimal control

Control systems

Autonomous vehicles

model predictive control

motion planning

Author

Johan Karlsson

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Nikolce Murgovski

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Jonas Sjöberg

Chalmers, Electrical Engineering, Systems and control, Mechatronics

IEEE Transactions on Intelligent Transportation Systems

1524-9050 (ISSN)

Vol. 21 8 3169-3183 8782646

Areas of Advance

Transport

Subject Categories

Transport Systems and Logistics

Communication Systems

Control Engineering

DOI

10.1109/TITS.2019.2929963

More information

Latest update

9/30/2020