Overtaking control systems for autonomous vehicles

Oosterhaven, Marco, S.P. (2020) Overtaking control systems for autonomous vehicles. Research Project, Industrial Engineering and Management.

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Abstract

Autonomous vehicles are driver less, efficient and crash avoiding future vehicles, which is a widely studied field in research. Autonomous overtaking takes the state of the leading and subject vehicle, its constraints, positioning, environment limits, safety behavior and obstacle avoidance into consideration. To plan an overtaking manoeuvre, a chasing vehicle needs data from the target vehicle to predict if a safe overtaking manoeuvre is possible. The main objective of this thesis is to design a control algorithm that models marginal safety behavior while overtaking in racing situations using an autonomous vehicle driving control system. The proposed control algorithm uses optimal control theory to predict where to overtake an autonomous vehicle on the trajectory. Multiple simulations are performed using the Nexus robots equipped with Lidar. Racingsituationsarecreatedwheretheleadingvehicleacceleratesbasedonthe interdistance with the chasing vehicle. The chasing vehicle recognizes the acceleration via the laser scanner and updates its trajectory to avoid collision and safely overtakes the leading vehicle. Multiple trajectories were created with a trajectory generator to test the robustness of the proposed algorithm. The simulations show that in 85.3% of the simulations the chasing vehicle was able to safely overtake its opponent. This shows that the proposed solution is functional and robust for autonomously overtaking vehicles.

Item Type:	Thesis (Research Project)
Supervisor name:	Jayawardhana, B. and Kloosterman, H.
Degree programme:	Industrial Engineering and Management
Thesis type:	Research Project
Language:	English
Date Deposited:	17 Apr 2020 07:26
Last Modified:	21 Sep 2023 06:51
URI:	https://fse.studenttheses.ub.rug.nl/id/eprint/21784

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