Abstract
Automated vehicles are increasingly getting main-streamed and this has pushed development of systems for autonomous manoeuvring (e.g., lane-change, merge, and overtake) to the forefront. A novel framework for situational awareness and trajectory planning to perform autonomous overtaking in high-speed structured environments (e.g., highway and motorway) is presented in this paper. A combination of a potential field like function and reachability sets of a vehicle are used to identify safe zones on a road that the vehicle can navigate towards. These safe zones are provided to a tube-based robust model predictive controller as reference to generate feasible trajectories for combined lateral and longitudinal motion of a vehicle. The strengths of the proposed framework are: 1) it is free from non-convex collision avoidance constraints; 2) it ensures feasibility of trajectory even if decelerating or accelerating while performing lateral motion; and 3) it is real-time implementable. The ability of the proposed framework to plan feasible trajectories for high-speed overtaking is validated in a high-fidelity IPG CarMaker and Simulink co-simulation environment.
Highlights
T HE initial waves of autonomous driving cars are plying on public roads and successfully providing features such as lane-keeping, distance maintenance, lane departure, cruising, etc
In this paper, extracting the relevant benefits of each approach described in the literature, we propose a mathematical framework of potential field like functions and Model Predictive Control (MPC) for performing an autonomous high-speed overtaking manoeuvre
From (37) and (38), it follows that the vehicle dynamics of interest for the overtaking manoeuvre match the hypothesis required for the application of the robust MPC in Section IV, which is used for the generation of a feasible path to steer the vehicle toward x = [η, ψ, v]T belonging to the safe reacheble set (32), where η, ψand vare defined in the section above
Summary
T HE initial waves of autonomous driving cars are plying on public roads and successfully providing features such as lane-keeping, distance maintenance, lane departure, cruising, etc. DIXIT et al.: TRAJECTORY PLANNING FOR AUTONOMOUS HIGH-SPEED OVERTAKING IN STRUCTURED ENVIRONMENTS is available, potential field based techniques are shown to be successful at generating collision free trajectories for avoiding stationary or moving obstacles [9], [14]. In this paper, extracting the relevant benefits of each approach described in the literature, we propose a mathematical framework of potential field like functions and MPC for performing an autonomous high-speed overtaking manoeuvre. This paper is an extension of our previous work in [30] and builds upon the framework by (i) using a tube-based robust MPC technique to plan feasible trajectories over a larger range of vehicle velocities, (ii) development of collision avoidance constraints based on lateral position and velocity of the subject vehicle, and (iii) numerically validating the entire framework in IPG CarMaker-Simulink co-simulation environment.
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