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

Signaler och system, System- och reglerteknik, Mekatronik

Jonas Sjöberg

Signaler och system, System- och reglerteknik, Mekatronik

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN)

644-649 7402302

Styrkeområden

Transport

Ämneskategorier

Beräkningsmatematik

Reglerteknik

DOI

10.1109/CDC.2015.7402302

ISBN

978-1-4799-7886-1