Autonomous vehicle overtaking- an online solution

• Published in: 2009 IEEE International Conference on Automation and Logistics pp. 596 - 601
• Main Authors: Usman, G., Kunwar, F.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.08.2009
• Subjects: Acceleration; Collision Avoidance; Driver Assistance; Intelligent transportation systems; Intelligent vehicles; Mobile robots; Navigation; Remotely operated vehicles; Rendezvous-Guidance Law; Ride Comfort; Road transportation; Road vehicles; Vehicle driving; Vehicle Overtaking; Vehicle safety
• ISBN: 9781424447947; 1424447941
• ISSN: 2161-8151
• DOI: 10.1109/ICAL.2009.5262854

In the context of intelligent transportation, this paper presents a novel online trajectory-generation method for autonomous overtaking capable of handling emergency situations and aborting the manoeuvre, if required, in a smooth and collision free manner. The proposed methodology is guidance based, real-time applicable, and ensures safety and passenger ride comfort. Based on the principles of rendezvous guidance, the passing vehicle is guided in real-time to match the position and velocity of a shadow target (i.e., rendezvous with) during the overtaking manoeuvre. The shadow target's position and velocity are generated based on real-time sensory information gathered about the slower vehicle ahead of the passing vehicle. The proposed method can be used as a fully autonomous system or simply as a driver-assistance tool. Extensive simulations, some of which are presented herein, clearly demonstrate the tangible efficiency of the proposed method.