@inproceedings{6b0dec082db44abdbf39b3757c19f21b,
title = "Safe autonomous overtaking with intention estimation",
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.",
author = "Chipade, {Vishnu S.} and Qiang Shen and Lixing Huang and Necmiye Ozay and Sze Yong and DImitra Panagou",
year = "2019",
month = jun,
day = "1",
doi = "10.23919/ECC.2019.8795715",
language = "English (US)",
series = "2019 18th European Control Conference, ECC 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2050--2057",
booktitle = "2019 18th European Control Conference, ECC 2019",
note = "18th European Control Conference, ECC 2019 ; Conference date: 25-06-2019 Through 28-06-2019",
}