Autonomous Overtaking Maneuver Under Complex Driving Conditions

04/11/2020

Speaker: Jiyo Palatti  

Robotics Seminar Series. Next Session – 6th November 2020, 15:00-16:00, via zoom. Link to event: https://aalto.zoom.us/j/62124942899

Abstract:

This thesis focuses on the planning and control that goes into performing autonomous overtaking and subsequent lane-keeping. The proposed solution uses a combination of risk maps and reachable set to generate intermediate reference states based on the desired maneuver. A non-linear model predictive controller was developed in MATLAB to plan a trajectory to this intermediate reference state that avoids collisions. This control scheme was tested with different scenarios using the Carla simulation engine with ROS (Robotic Operating System) middleware for communication.

References:

  •  S. Dixit et al., “Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints,” in 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Nov. 2018, pp. 1061–1068, doi: 10.1109/ITSC.2018.8569529.
  • M. T. Wolf and J. W. Burdick, “Artificial potential functions for highway driving with collision avoidance,” in 2008 IEEE International Conference on Robotics and Automation, May 2008, pp. 3731–3736, doi:10.1109/ROBOT.2008.4543783.
  • A. Schimpe and F. Diermeyer, “Steer with Me: A Predictive, Potential Field-Based Control Approach for Semi-Autonomous, Teleoperated Road Vehicles,” arXiv:2006.15718 [cs], Jun. 2020, Accessed: Oct. 20, 2020. [Online]. Available: http://arxiv.org/abs/2006.15718.
  • A. Schimpe and F. Diermeyer, “Steer with Me: A Predictive, Potential Field-Based Control Approach for Semi-Autonomous, Teleoperated Road Vehicles,” arXiv:2006.15718 [cs], Jun. 2020, Accessed: Oct. 20, 2020. [Online]. Available: http://arxiv.org/abs/2006.15718.
  • J. Kong, M. Pfeiffer, G. Schildbach, and F. Borrelli, “Kinematic and dynamic vehicle models for autonomous driving control design,” in 2015 IEEE Intelligent Vehicles Symposium (IV), Seoul, South Korea, Jun. 2015, pp. 1094–1099, doi: 10.1109/IVS.2015.7225830.
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