Cost and risk sensitive decision making and control for highway overtaking maneuver

András Mihály, Zoltán Adám Milacski, Zoltán Tosér, A. Lőrincz, Tamás Tettamanti, István Varga

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Independently controlled systems may become coupled giving rise to risks; communication, control and optimization tasks have to be solved. Solutions should take into account potential inaccuracies due to disturbances and that information distribution can be inexact, incomplete, or late. In this paper, a highway overtaking scenario with two units is considered. In principle, either of the units can be composed of multiple vehicles. We performed simulations using the validated vehicle simulator CarSim®. The corresponding vehicle models calculated the necessary brake and throttle inputs to match the reference signals. We considered the information observed by the two simulated vehicles together to deduce conditions when overtaking can be successful. Minimization of the cost can be achieved by selecting from the set of feasible solutions. Cost and risk estimations enable one to cast the problem as a Markov Decision Process, which scales well to more complex scenarios.

Original languageEnglish
Title of host publication2015 International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages87-92
Number of pages6
ISBN (Print)9789633131428
DOIs
Publication statusPublished - Aug 25 2015
EventInternational Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2015 - Budapest, Hungary
Duration: Jun 3 2015Jun 5 2015

Other

OtherInternational Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2015
CountryHungary
CityBudapest
Period6/3/156/5/15

Keywords

  • cost
  • coupled systems
  • decision making
  • Intelligent cruise control
  • optimization
  • risk

ASJC Scopus subject areas

  • Mechanical Engineering
  • Transportation
  • Computer Science Applications
  • Automotive Engineering

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  • Cite this

    Mihály, A., Milacski, Z. A., Tosér, Z., Lőrincz, A., Tettamanti, T., & Varga, I. (2015). Cost and risk sensitive decision making and control for highway overtaking maneuver. In 2015 International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2015 (pp. 87-92). [7223241] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MTITS.2015.7223241