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.

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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 :	Name Email ORCID Dixit, Shilp s.dixit@surrey.ac.uk Montanaro, Umberto u.montanaro@surrey.ac.uk Fallah, Saber s.fallah@surrey.ac.uk Dianati, Mehrdad M.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 :	Organisation
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

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