University of Surrey

Test tubes in the lab Research in the ATI Dance Research

Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints

Dixit, Shilp, Montanaro, Umberto, Fallah, Saber, Dianati, Mehrdad, Oxtoby, David, Mizutani, Tom and Mouzakitis, Alexandros (2018) Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints In: The Fifth International Conference on Internet of Things: Systems, Management and Security (IoTSMS 2018), 15-18 Oct. 2018, Valencia, Spain. October 15-18, 2018.

[img]
Preview
Text
Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints.pdf - Accepted version Manuscript

Download (613kB) | Preview

Abstract

With self-driving vehicles being pushed towards the main-stream, there is an increasing motivation towards development of systems that autonomously perform manoeuvres involving combined lateral-longitudinal motion (e.g., lanechange, merge, overtake, etc.). This paper presents a situational awareness and trajectory planning framework for performing autonomous overtaking manoeuvres. 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 model predictive controller as reference to generate feasible trajectories for a vehicle. The strengths of the proposed framework are: (i) it is free from non-convex collision avoidance constraints, (ii) it ensures feasibility of trajectory, and (iii) it is real-time implementable. A proof of concept simulation is shown to demonstrate the ability to plan trajectories for high-speed overtaking manoeuvres.

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
NameEmailORCID
Dixit, Shilps.dixit@surrey.ac.uk
Montanaro, Umbertou.montanaro@surrey.ac.uk
Fallah, Sabers.fallah@surrey.ac.uk
Dianati, MehrdadM.Dianati@surrey.ac.uk
Oxtoby, David
Mizutani, Tom
Mouzakitis, Alexandros
Date : 15 October 2018
Funders : Engineering and Physical Sciences Research Council (EPSRC)
Grant Title : Towards Autonomy: Smart and Connected Control
Projects : Towards Autonomy: Smart and Connected Control (TASCC) Programme
Related URLs :
Depositing User : Clive Harris
Date Deposited : 13 Sep 2018 15:10
Last Modified : 11 Dec 2018 11:24
URI: http://epubs.surrey.ac.uk/id/eprint/849287

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year


Information about this web site

© The University of Surrey, Guildford, Surrey, GU2 7XH, United Kingdom.
+44 (0)1483 300800