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Trajectory Planning for Autonomous High-Speed Overtaking in Structured Environments using Robust MPC

Dixit, Shilp, Montanaro, Umberto, Dianati, Mehrdad, Oxtoby, David, Mizutani, Tom, Mouzakitis, Alexandros and Fallah, Saber Trajectory Planning for Autonomous High-Speed Overtaking in Structured Environments using Robust MPC IEEE Transactions on Intelligent Transportation Systems.

Dixit - 2019 - Trajectory Planning for High-Speed Overtaking using RMPC (1).pdf - Accepted version Manuscript

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Automated vehicles are increasingly getting mainstreamed and this has pushed development of systems for autonomous manoeuvring (e.g., lane-change, merge, overtake, etc.) to the forefront. A novel framework for situational awareness and trajectory planning to perform autonomous overtaking in high-speed structured environments (e.g., highway, 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: (i) it is free from nonconvex collision avoidance constraints, (ii) it ensures feasibility of trajectory even if decelerating or accelerating while performing lateral motion, and (iii) it is real-time implementable. The ability of the proposed framework to plan feasible trajectories for highspeed overtaking is validated in a high-fidelity IPG CarMaker and Simulink co-simulation environment.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Dianati, Mehrdad
Oxtoby, David
Mizutani, Tom
Mouzakitis, Alexandros
Funders : EPSRC - Engineering and Physical Sciences Research Council, Jaguar Land Rover
Copyright Disclaimer : © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Uncontrolled Keywords : Trajectory planning; Autonomous overtaking; MPC; Robust MPC; Autonomous vehicles
Additional Information : This work was supported by Jaguar Land Rover and the UK-EPSRC grant EP/N01300X/1 as part of the jointly funded Towards Autonomy: Smart and Connected Control (TASCC) Programme and is subject to UK patent under UKIPO GB1801968.7 (under review).
Depositing User : Diane Maxfield
Date Deposited : 07 Aug 2019 11:14
Last Modified : 07 Aug 2019 12:03

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