Publications
International Journal on Smart Sensing and Intelligent Systems
Professor Subhas Chandra Mukhopadhyay
Exeley Inc. (New York)
Subject: Computational Science & Engineering , Engineering, Electrical & Electronic
eISSN: 1178-5608
SEARCH WITHIN CONTENT
GUIDANCE-BASED ON-LINE MOTION PLANNING FOR AUTONOMOUS HIGHWAY OVERTAKING
Usman Ghumman / Faraz Kunwar / Beno Benhabib
Keywords : Intelligent Transportation, Autonomous Vehicle Overtaking, Collision Avoidance
Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 1, Issue 2, Pages 549-571, DOI: https://doi.org/10.21307/ijssis-2017-307
License : (CC BY-NC-ND 4.0)
Published Online: 13-December-2017
- ARTICLE
- FIGURES & TABLES
- REFERENCES
- EXTRA FILES
- COMMENTS
ARTICLE
ABSTRACT
In the context of intelligent transportation, this paper presents a novel on-line trajectory-generation method for autonomous lane changing. The proposed scheme is guidance based, real-time applicable, and ensures safety and passenger ride comfort. Based on the principles of Rendezvous Guidance, the passing vehicle is guided in real-time to match the position and velocity of a shadow target (i.e., rendezvous with) during the overtaking manoeuvre. The shadow target’s position and velocity are generated based on real-time sensory information gathered about the slower vehicle ahead of the passing vehicle as well as other vehicles which may be travelling in the passing lane. Namely, the guidance principle is also used to prevent any potential collision with these obstacle vehicles. The proposed method can be used as a fully autonomous system or simply as a driver-assistance tool. Extensive simulations and experiments, some of which are presented herein, clearly demonstrate the tangible efficiency of the proposed method.
FIGURES & TABLES
REFERENCES
[1] R. Bishop, “Artech
[2] J. Michon, Human Behavior and Traffic Safety. New York: Plenum Press, 1985.
and Roll Mitigation,” Proceedings of the American Control Conference, Portlan
June 2005, pp. 441-446. . Tsogas, A. Polychronopoulos, and A. Amditis, “Using Digital Maps to Enhance Lane Keeping Support Systems,”
Istanbul, Turkey, June 2007, pp.148-153 .P. Zhang, and T. West, “An Intelligent Roadway Reference System for Vehicle LaterGuidance/Control,” Proceedings of the Am
May 1990, pp. 281-286. . Peng, and M. Tomizuka, “Preview Control for Vehicle Lateral Guidance in Highway Automation,” Proceeding
pp. 3090-3095. . Hessburg, H. Peng, W. Zhang, M. Tomizuka and E. Kamei, “An Experimental Study on Lateral Control o
MA, June 1991, pp. 3084-3089. . Peng, T. M. Hessburg, M. Tomizuka, W. Zhang, Y. Lin, P. Devlin, S. Shladover, and A. Arai, “A Theoretical and Experim
of the American Control Conference, Chicago, IL, June 1992, pp. 1738-1742. Ackermann, and W. Sienel, “Robust Control for Automatic Steering,” Proceedings of thAmerican Control Conference, San Diego, CA, May 1990, pp. 795-800.
[10]J. Ackermann, and W. Sienel, “Automatic Steering of Vehicles with Reference Angular Velocity Feedback,” Proceedings of the American Control Conference,Baltimore, MD June 1994, pp. 1957-1958.
[11] J. Guldner, V.I. Utkin, and J. Ackermann, “A Sliding Mode Control Approach to Automatic Car Steering,” Proceedings of the American Control Conference, Baltimore, MD, June 1994, pp. 1969-1973. rtation
[12] M. M. M. Brackstone, “Car-Following: A Historical Review,” Journal of TranspoResearch, Vol. 2, 1990, pp. 181-1969. . Hsiao and M. Tomizuka, “DesigMotion,” Proceedings of the American Control Conference, Minneapolis, MN, June 2006, pp. 5855-5860.
[13] Tn of Position Feedback Controllers for Vehicle Lateral tics , Singapore, Dec. 2004, pp. 827-832.
[14] T. Srinivasan, J.B. Siddharth, and A. Chandrasekhar, “Sentient Autonomous Vehicle UsingAdvanced Neural Net Technology”, Proceedings of the IEEE Conference on Cyberneand Intelligent Systems
[15] S. Jamison and M. McCartney, “A Vehicle Overtaking Model of Traffic Dynamics,” CHAOS : An Interdisciplinary Journal of Nonlinear Science, Vol. 17, Issue 3, Sep. 2007, pp. 1-7.
[16] W. Chee, and M. Tomizuka, “Lane Change Manoeuvres for AHS Applications,” Proceedings of the International Symposium on Advanced Vehicle Control, Tsukuha, Japan, Oct. 1994, pp. 420-425.