TY - GEN
T1 - Safe autonomous overtaking with intention estimation
AU - Chipade, Vishnu S.
AU - Shen, Qiang
AU - Huang, Lixing
AU - Ozay, Necmiye
AU - Yong, Sze Zheng
AU - Panagou, DImitra
N1 - Publisher Copyright:
© 2019 EUCA.
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85071601307&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071601307&partnerID=8YFLogxK
U2 - 10.23919/ECC.2019.8795715
DO - 10.23919/ECC.2019.8795715
M3 - Conference contribution
AN - SCOPUS:85071601307
T3 - 2019 18th European Control Conference, ECC 2019
SP - 2050
EP - 2057
BT - 2019 18th European Control Conference, ECC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th European Control Conference, ECC 2019
Y2 - 25 June 2019 through 28 June 2019
ER -