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Trajectory planning for autonomous high-speed overtaking in structured environments using robust MPC
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Dixit, Shilp, Montanaro, Umberto, Dianati, Mehrdad, Oxtoby, David, Mizutani, Tom, Mouzakitis, Alexandros and Fallah, Saber (2020) Trajectory planning for autonomous high-speed overtaking in structured environments using robust MPC. IEEE Transactions on Intelligent Transportation Systems, 21 (6). pp. 2310-2323. doi:10.1109/TITS.2019.2916354 ISSN 1524-9050.
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WRAP-Trajectory-planning-autonomous-high-speed-environments-robust-Dianati-2020.pdf - Published Version - Requires a PDF viewer. Available under License Creative Commons Attribution 4.0. Download (2232Kb) | Preview |
Official URL: http://dx.doi.org/10.1109/TITS.2019.2916354
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.
Item Type: | Journal Article | |||||||||
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Alternative Title: | ||||||||||
Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TL Motor vehicles. Aeronautics. Astronautics |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | |||||||||
Library of Congress Subject Headings (LCSH): | Automated vehicles, Automated vehicles -- Technological innovations , Predictive control, Driver assistance systems, Automobiles -- Navigation systems | |||||||||
Journal or Publication Title: | IEEE Transactions on Intelligent Transportation Systems | |||||||||
Publisher: | IEEE | |||||||||
ISSN: | 1524-9050 | |||||||||
Official Date: | 10 June 2020 | |||||||||
Dates: |
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Volume: | 21 | |||||||||
Number: | 6 | |||||||||
Page Range: | pp. 2310-2323 | |||||||||
DOI: | 10.1109/TITS.2019.2916354 | |||||||||
Status: | Peer Reviewed | |||||||||
Publication Status: | Published | |||||||||
Access rights to Published version: | Open Access (Creative Commons) | |||||||||
Date of first compliant deposit: | 21 October 2020 | |||||||||
Date of first compliant Open Access: | 22 October 2020 | |||||||||
RIOXX Funder/Project Grant: |
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