Predictive cruise control with autonomous overtaking
Paper i 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.

Författare

Nikolce Murgovski

Chalmers, Signaler och system, System- och reglerteknik

Jonas Sjöberg

Chalmers, Signaler och system, System- och reglerteknik

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)

Styrkeområden

Transport

Ämneskategorier

Beräkningsmatematik

Reglerteknik

DOI

10.1109/CDC.2015.7402302

ISBN

978-1-4799-7886-1

Mer information

Senast uppdaterat

2024-07-12