Planning for Safe Abortable Overtaking Maneuvers in Autonomous Driving

Jiyo Palatti, Andrei Aksjonov, Gökhan Alcan*, Ville Kyrki

*Tämän työn vastaava kirjoittaja

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference article in proceedingsScientificvertaisarvioitu

12 Sitaatiot (Scopus)

Abstrakti

Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe autonomous overtaking. The proposed method optimizes the trajectory by simultaneously enforcing safety and minimizing intrusion onto the adjacent lane. Furthermore, the method allows the overtaking to be aborted, enabling the autonomous vehicle to merge back in the lane, if safety is compromised, because of e.g. traffic in opposing direction appearing during the maneuver execution. A finite state machine is used to select an appropriate maneuver at each time, and a combination of safe and reachable sets is used to iteratively generate intermediate reference targets based on the current maneuver. A nonlinear model predictive controller then plans dynamically feasible and collision-free trajectories to these intermediate reference targets. Simulation experiments demonstrate that the combination of intermediate reference generation and model predictive control is able to handle multiple behaviors, including following a lead vehicle, overtaking and aborting the overtake, within a single framework.
AlkuperäiskieliEnglanti
OtsikkoProceedings of IEEE International Intelligent Transportation Systems Conference, ITSC 2021
KustantajaIEEE
Sivut508-514
Sivumäärä7
ISBN (elektroninen)978-1-7281-9142-3
ISBN (painettu)978-1-7281-9143-0
DOI - pysyväislinkit
TilaJulkaistu - 25 lokak. 2021
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE International Conference on Intelligent Transportation Systems - , Yhdysvallat
Kesto: 19 syysk. 202122 syysk. 2021
Konferenssinumero: 24
https://2021.ieee-itsc.org/

Conference

ConferenceIEEE International Conference on Intelligent Transportation Systems
LyhennettäITSC
Maa/AlueYhdysvallat
Ajanjakso19/09/202122/09/2021
www-osoite

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