Safe autonomous overtaking with intention estimation

Vishnu S. Chipade, Qiang Shen, Lixing Huang, Necmiye Ozay, Sze Yong, DImitra Panagou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper investigates the problem of overtaking a lead car by an autonomous ego car on a two-lane road in the presence of an oncoming car. We propose an intention-aware overtaking controller for the ego car. The intention of the lead car is estimated via a combination of active model discrimination and model selection algorithms. Then, a safe overtaking controller is designed based on vector fields that take into account the estimated intent, and ensure safety of the overtaking maneuver. Simulation results demonstrate the efficacy of the proposed approach.

Original languageEnglish (US)
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2050-2057
Number of pages8
ISBN (Electronic)9783907144008
DOIs
StatePublished - Jun 1 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: Jun 25 2019Jun 28 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period6/25/196/28/19

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ASJC Scopus subject areas

  • Instrumentation
  • Control and Optimization

Cite this

Chipade, V. S., Shen, Q., Huang, L., Ozay, N., Yong, S., & Panagou, DI. (2019). Safe autonomous overtaking with intention estimation. In 2019 18th European Control Conference, ECC 2019 (pp. 2050-2057). [8795715] (2019 18th European Control Conference, ECC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2019.8795715