Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe autonomous overtaking. The proposed method optimizes the trajectory by simultaneously enforcing safety and minimizing intrusion onto the adjacent lane. Furthermore, the method allows the overtaking to be aborted, enabling the autonomous vehicle to merge back in the lane, if safety is compromised, because of e.g. traffic in opposing direction appearing during the maneuver execution. A finite state machine is used to select an appropriate maneuver at each time, and a combination of safe and reachable sets is used to iteratively generate intermediate reference targets based on the current maneuver. A nonlinear model predictive controller then plans dynamically feasible and collision-free trajectories to these intermediate reference targets. Simulation experiments demonstrate that the combination of intermediate reference generation and model predictive control is able to handle multiple behaviors, including following a lead vehicle, overtaking and aborting the overtake, within a single framework.
翻译:超载是驾驶方面最具挑战性的任务之一,而目前自主超载的解决方案仅限于简单和静态的情景。 在本文中,我们提出了一个行为和轨迹规划方法,用于安全自动超载。拟议方法优化轨道,同时加强安全并尽量减少对邻近车道的侵入。此外,该方法允许超载中止,如果安全性受损,自主车可以返回车道,因为机动执行过程中的反方向交通不便。使用限定状态机器来选择适当的动作,同时使用安全和可达的组合组合,根据当前操作迭接生成中间参照目标。一个非线性模型预测控制器,然后以动态可行和无碰撞的方式计划这些中间参照目标的轨迹。模拟实验表明,中间参考生成和模型预测控制组合能够在单一框架内处理多种行为,包括遵循铅车、超载和中止超载。