Model predictive control design for overtaking maneuvers for multi-vehicle scenarios

Balazs Nemeth, Tamas Hegedus, P. Gáspár

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

Abstract

The paper proposes the design of an MPC-based method for overtaking maneuvers of autonomous vehicles. The strategy incorporates a graph-based optimization algorithm, in which the probability of collisions with the surrounding vehicles is incorporated. The purpose of the graph search is to determine the road and velocity profile of the autonomous vehicle, which is guaranteed by the proposed MPC control. The novel algorithm is able to consider the multi-vehicle scenarios during the overtaking maneuver. The effectiveness of the method is presented in CarMaker simulation scenarios.

Original languageEnglish
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages744-749
Number of pages6
ISBN (Electronic)9783907144008
DOIs
Publication statusPublished - Jun 1 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: Jun 25 2019Jun 28 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period6/25/196/28/19

Fingerprint

Autonomous Vehicles
Model predictive control
Model Predictive Control
maneuvers
Control Design
vehicles
Graph Search
Scenarios
Velocity Profile
Optimization Algorithm
Collision
Graph in graph theory
roads
Simulation
velocity distribution
optimization
collisions
profiles
simulation
Design

ASJC Scopus subject areas

  • Instrumentation
  • Control and Optimization

Cite this

Nemeth, B., Hegedus, T., & Gáspár, P. (2019). Model predictive control design for overtaking maneuvers for multi-vehicle scenarios. In 2019 18th European Control Conference, ECC 2019 (pp. 744-749). [8796013] (2019 18th European Control Conference, ECC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2019.8796013

Model predictive control design for overtaking maneuvers for multi-vehicle scenarios. / Nemeth, Balazs; Hegedus, Tamas; Gáspár, P.

2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 744-749 8796013 (2019 18th European Control Conference, ECC 2019).

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

Nemeth, B, Hegedus, T & Gáspár, P 2019, Model predictive control design for overtaking maneuvers for multi-vehicle scenarios. in 2019 18th European Control Conference, ECC 2019., 8796013, 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 744-749, 18th European Control Conference, ECC 2019, Naples, Italy, 6/25/19. https://doi.org/10.23919/ECC.2019.8796013
Nemeth B, Hegedus T, Gáspár P. Model predictive control design for overtaking maneuvers for multi-vehicle scenarios. In 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 744-749. 8796013. (2019 18th European Control Conference, ECC 2019). https://doi.org/10.23919/ECC.2019.8796013
Nemeth, Balazs ; Hegedus, Tamas ; Gáspár, P. / Model predictive control design for overtaking maneuvers for multi-vehicle scenarios. 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 744-749 (2019 18th European Control Conference, ECC 2019).
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