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Trajectory planning and tracking for autonomous overtaking: State-of-the-art and future prospects

Dixit, S, Fallah, Saber, Montanaro, Umberto, Dianati, M, Stevens, A, Mccullough, F and Mouzakitis, A (2018) Trajectory planning and tracking for autonomous overtaking: State-of-the-art and future prospects Annual Reviews in Control, 45. pp. 76-86.

Trajectory Planning and Tracking for Autonomous for Autonomous Overtaking-State of the art and Future Prospects - submission file.pdf - Accepted version Manuscript

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Trajectory planning and trajectory tracking constitute two important functions of an autonomous overtaking system and a variety of strategies have been proposed in the literature for both functionalities. However, uncertainties in environment perception using the current generation of sensors has resulted in most proposed methods being applicable only during low-speed overtaking. In this paper, trajectory planning and trajectory tracking approaches for autonomous overtaking systems are reviewed. The trajectory planning techniques are compared based on aspects such as real-time implementation, computational requirements, and feasibility in real-world scenarios. This review shows that two important aspects of trajectory planning for high-speed overtaking are: (i) inclusion of vehicle dynamics and environmental constraints and (ii) accurate knowledge of the environment and surrounding obstacles. The review of trajectory tracking controllers for high-speed driving is based on different categories of control algorithms where their respective advantages and disadvantages are analysed. This study shows that while advanced control methods improve tracking performance, in most cases the results are valid only within well-regulated conditions. Therefore, existing autonomous overtaking solutions assume precise knowledge of surrounding environment which is not representative of real-world driving. The paper also discusses how in a connected driving environment, vehicles can access additional information that can expand their perception. Hence, the potential of cooperative information sharing for aiding autonomous high-speed overtaking manoeuvre is identified as a possible solution.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Dixit, S
Dianati, M
Stevens, A
Mccullough, F
Mouzakitis, A
Date : 9 March 2018
DOI : 10.1016/j.arcontrol.2018.02.001
Copyright Disclaimer : © 2018. This manuscript version is made available under the CC-BY-NC-ND 4.0 license
Uncontrolled Keywords : Autonomous vehicles; Overtaking; Trajectory planning; Trajectory tracking; Connected vehicles
Depositing User : Melanie Hughes
Date Deposited : 13 Mar 2018 14:04
Last Modified : 09 Mar 2019 02:08

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