Computationally Efficient Autonomous Overtaking on Highways
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.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
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Supplemental Notes:
- Copyright © 2020, IEEE.
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Authors:
- Karlsson, Johan
- Murgovski, Nikolce
- Sjöberg, Jonas
- Publication Date: 2020-8
Language
- English
Media Info
- Media Type: Digital/other
- Features: Figures; References; Tables;
- Pagination: pp 3169-3183
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Serial:
- IEEE Transactions on Intelligent Transportation Systems
- Volume: 21
- Issue Number: 8
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 1524-9050
- Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979
Subject/Index Terms
- TRT Terms: Automated vehicle control; Autonomous vehicles; Decision making; Longitudinal control; Mathematical models; Mathematical prediction; Passing; Trajectory control
- Subject Areas: Highways; Planning and Forecasting; Vehicles and Equipment;
Filing Info
- Accession Number: 01756563
- Record Type: Publication
- Files: TLIB, TRIS
- Created Date: Oct 29 2020 9:34AM